Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory

  title={Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory},
  author={Roger Skjetne and Thor I. Fossen and Petar V. Kokotovic},
The maneuvering problem involves two tasks. The first, called the geometric task, is to force the system output to converge to a desired path continuously parametrized by a scalar θ. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. In this paper, this dynamic behavior is further specified as a speed assignment for θ(t). While the main concern is to satisfy the geometric task, the dynamic task ensures that the system output follows the path with… CONTINUE READING
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