Abstract
In this work, an adaptive state observer based on the strictly positive real (SPR) theory in combination with funnel control is proposed for heading control of surface vessels with uncertainty in the model and subject to rudder dead-zone actuator nonlinearity. The rudder command is designed to guarantee predetermined transient and steady-state tracking performances for both heading angle and filtered virtual control tracking errors. The unknown nonlinear function in the model is tackled using an adaptive neural network and an adaptive mechanism is proposed to cope with the unknown control gain. To further improve the performance, an adaptive continuous chattering-free robust structure is considered. Using SPR Lyapunov synthesis approach, not only all the adaptive laws are derived but also it is proved that all the closed-loop signals are semi-globally uniformly ultimately bounded (SGUUB). Simulation results validate the efficiency and applicability of the proposed method.
Published Version
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