Steering Controller Design for Smart Autonomous Surface Vessel Based on CSF L2 Gain Robust Strategy

• Published in: IEEE access Vol. 7; pp. 109982 - 109989
• Main Authors: Guan, Wei, Cao, Weinan, Sun, Jinghai, Su, Zuojing
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Automatic pilots; closed-loop shaping filter (CSF); Control stability; Control systems; Control systems design; Controllers; L2 gain; L2 gain robust control; Least squares method; Marine vehicles; Mathematical model; Mathematical models; Nonlinear control; Parameters; recursive least squares method (RLSM); Robust control; Robustness; ship model identification; Smart autonomous surface vessel (SASV); Steering; Uncertainty; Vessels; Yaw

During the mission at sea, the yaw motion of the smart autonomous surface vessel (SASV) is always subject to the external disturbances. These issues make the design of a robust controller for steering autopilot system a quite challenging task. This paper focuses on the utilization of closed-loop sha...