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Model Reference Adaptive Tracking Control of Nonminimum Phase Marine Vehicles

[+] Author Affiliations
Yannick Morel, Alexander Leonessa

University of Central Florida

Paper No. IMECE2005-80897, pp. 39-47; 9 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


The most commonly used propulsion system for marine vehicles is a propeller, generating thrust, and a stern rudder, used for steering. Motion control of a vehicle equipped with such a propulsion system can prove rather challenging. Indeed, the vehicle will not only be underactuated, but also nonminimum phase. Classically, the undesirable effects of the nonminimum phase nature of the system will translate into attitude issues. In this paper, a model reference adaptive controller that satisfactorily solves the tracking problem for a nonminimum phase model of marine vehicle is presented, along with an expression of the zero-dynamics. Using Lyapunov theory and introducing carefully chosen tracking errors, we study the closed-loop system stability and relate the behavior of the zero-dynamics to a relevant design constant.

Copyright © 2005 by ASME



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