Ah.?trmt-Linear quadratic Gaussian (LQC) control algorithm linked to Recursive Least Squares (RLS) algorithm bas been applied to a multivnrirte ado-regressive erogenous (MARY) model of ships lo C O O S~~U C~ a ship autopilot. It has been found from computer simulation and full-scale experiments aboard a training ship that the autopilot is robust and has good features in botb r o~r s e keeping and course changing maneuvers.
Ah.wocf-Presents are now results on designing a robust adaptive direct eontroller for a class of non-linear f i s t order systems, bssed on the use of dead zone in parsmeters' updale law. It i s rbown that the size of the dead zone does not depend on the upper bounds of lhe disturbances. However, in Ihe ideal case, when erogenous signal functions and the function represeats unmodeled dynamics of the system3 equal to zero, the proposed coneoller does not mean the convergence to zero of the tracking error. Computer simulation results show the effectiveness of the
Keywords-AdaptiveConBol, Dead zone, Robustness, controller in dealing with the stated problems.
Nonlinear System1.
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