Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback

Abstract

This paper presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed from a parametrized loop and a speed assignment specifying the motion along the path, which decouples the geometry of the path from the motion along the path. During flows, the hybrid feedback consists of a proportional-derivative action and an adaptive feedforward term, while a hysteretic switching mechanism that is independent of the vehicle velocities determines jumps. The effectiveness of the proposed control law is demonstrated through experiments