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This paper proposes an unscented Kalman filter (UKF) based tracking controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. The controller development is based on UKF and backstepping techniques. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift...
In order to improve the performance of the UKF a novel adaptive filter method is proposed. The error between the covariance matrices of innovation measurements and their corresponding estimations/predictions is utilized as the cost function. Based on the MIT rule, an adaptive algorithm is designed to online update the covariance of the process uncertainties by minimizing the cost function. The updated...
A novel fault-tolerant control method for autonomous mobile robot is proposed in this paper. The actuator effectiveness factors (AEFs) are introduced into the dynamics equation of mobile robot. The unscented Kalman filter (UKF) is employed for real time estimation of both the motion states and the AEFs. Such an active estimation is further incorporated into inverse dynamics control (IDC). The IDC...
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