On reduced-complexity robust adaptive control of switched Euler–Lagrange systems

Journal article (2019)

Authors

S. Roy Ship Design, Production and Operations - Mechanical, Maritime and Materials Engineering , International Institute of Information Technology
S. Baldi Southeast University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Research Group
Ship Design, Production and Operations (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2019

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Ship Design, Production and Operations

Abstract

State-of-the-art adaptive or robust adaptive techniques for several classes of uncertain switched systems demand structural knowledge of the system dynamics in order to appropriately select the regressor terms in the adaptive law. As a result, the number of unknown parameters to be adapted increases with system complexity, which can lead to very complex adaptive laws. In this work we propose, for the relevant class of Euler–Lagrange systems subject to time-dependent slow switching, a switched robust adaptive control framework with reduced complexity: the number of unknown parameter to be adapted is independent on the system complexity, whereas the regressor terms in the adaptive laws do not require any structural knowledge of the system dynamics. Stability analysis is provided to illustrate the benefit of the proposed design, and the performance of the controller is verified using a switched system stemming from the combination of mooring and free-hanging operations in dynamic positioning of offshore ships.

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