Adaptive controller implementation for surface robotic vessel

Abstract

In this paper a problem of a dynamic positioning system design for a surface robotic vessel is addressed. The considered plant is represented as a MIMO system which comprised of three independent SISO dynamical channels. Each of them corresponds to the particular coordinate of the boat. All the SISO channels are controlled by, so called, virtual control inputs generated using a new algorithm of output adaptive control which is an extension of the known robust approach known as “consecutive compensator”. Then after an inverse MIMO transformation real control signals are calculated for actuators. To finalize the investigation the proposed algorithm is successfully applied to the robotic complex of vessel motion modelling.