Output Adaptive Controller Design for Robotic Vessel with Parametric and Functional Uncertainties

Abstract

The problem of controlling for robotic boat with unknown parameters and unmeasurable velocity and acceleration is addressed in this paper. The controller design is based on the output robust control law. It was modified with adaptation algorithms, which allowed to eliminate a static error despite parametric and functional uncertainties. As result, the regulator minimized static error compared to robust controller. The efficiency of the proposed algorithm was illustrated by the experimental approval using the robotic boat model in the task of ellipse path movement. There is comparison between of robust controller and adaptive version in the paper.