This article presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference… Click to show full abstract
This article presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed from a parameterized loop and a speed assignment specifying the motion along the path, which decouples the geometry of the path from the motion along the path. During flows, the hybrid feedback consists of a proportional-derivative action and an adaptive feedforward term, while a hysteretic switching mechanism that is independent of the vehicle velocities determines jumps. The effectiveness of the proposed control law is demonstrated through experiments.
               
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