An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping

Francesco Calugi; Anders Robertsson; Rolf Johansson

doi:10.1109/CDC.2003.1271646

An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping

Francesco Calugi, Anders Robertsson, Rolf Johansson

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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Abstract

In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive control scheme. The resulting closed-loop system is globally asymptotically stable with respect to the ship positions and velocities, and globally stable with respect to adaptation to unknown parameters. A discrete-time approximation scheme is presented.

Original language	English
Title of host publication	Proceedings. 42nd IEEE Conference on Decision and Control, 2003.
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	3262-3267
Volume	4
ISBN (Print)	0-7803-7924-1
DOIs	https://doi.org/10.1109/CDC.2003.1271646
Publication status	Published - 2003

Publication series

Name
Volume	4
ISSN (Print)	0191-2216

Subject classification (UKÄ)

Control Engineering

Free keywords

asymptotic stability
closed loop system
dynamical ship position control
globally asymptotically stable
vectorial observer backstepping
observer based adaptive control
adaptive observer

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10.1109/CDC.2003.1271646

calugi_etal_IEEE_Decision_Control_2003

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Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
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Cite this

@inproceedings{fc195f46587243339760d7810c8c022c,

title = "An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping",

abstract = "In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive control scheme. The resulting closed-loop system is globally asymptotically stable with respect to the ship positions and velocities, and globally stable with respect to adaptation to unknown parameters. A discrete-time approximation scheme is presented.",

keywords = "asymptotic stability, closed loop system, dynamical ship position control, globally asymptotically stable, vectorial observer backstepping, observer based adaptive control, adaptive observer",

author = "Francesco Calugi and Anders Robertsson and Rolf Johansson",

year = "2003",

doi = "10.1109/CDC.2003.1271646",

language = "English",

isbn = "0-7803-7924-1",

volume = "4",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

pages = "3262--3267",

booktitle = "Proceedings. 42nd IEEE Conference on Decision and Control, 2003.",

address = "United States",

}

An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping. / Calugi, Francesco; Robertsson, Anders; Johansson, Rolf.
Proceedings. 42nd IEEE Conference on Decision and Control, 2003.. Vol. 4 IEEE - Institute of Electrical and Electronics Engineers Inc., 2003. p. 3262-3267.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping

AU - Calugi, Francesco

AU - Robertsson, Anders

AU - Johansson, Rolf

PY - 2003

Y1 - 2003

N2 - In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive control scheme. The resulting closed-loop system is globally asymptotically stable with respect to the ship positions and velocities, and globally stable with respect to adaptation to unknown parameters. A discrete-time approximation scheme is presented.

AB - In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive control scheme. The resulting closed-loop system is globally asymptotically stable with respect to the ship positions and velocities, and globally stable with respect to adaptation to unknown parameters. A discrete-time approximation scheme is presented.

KW - asymptotic stability

KW - closed loop system

KW - dynamical ship position control

KW - globally asymptotically stable

KW - vectorial observer backstepping

KW - observer based adaptive control

KW - adaptive observer

U2 - 10.1109/CDC.2003.1271646

DO - 10.1109/CDC.2003.1271646

M3 - Paper in conference proceeding

SN - 0-7803-7924-1

VL - 4

SP - 3262

EP - 3267

BT - Proceedings. 42nd IEEE Conference on Decision and Control, 2003.

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

ER -

An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping

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