In this paper, an adaptive controller is developed for a fully actuated marine vehicle where the rigid body and hydrodynamic parameters are unknown. A data-based integral concurrent learning method is used to compensate for the uncertain parameters. A Lyapunov-based analysis is presented to show that the closed-loop system is globally exponentially stable and the uncertain parameters are identified exponentially without the requirement of persistence of excitation. Experimental results on an autonomous surface vessel operating on a lake illustrate the controller's ability to track figure-8 trajectories in environments with small disturbances.

中文翻译：

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自主水面船舶的全局指数跟踪控制：一种整体并发学习方法

在本文中，针对刚体和水动力参数未知的全驱动船舶开发了一种自适应控制器。一种基于数据的积分并发学习方法用于补偿不确定参数。提出了基于李雅普诺夫的分析，以表明闭环系统是全局指数稳定的，并且不确定参数可以指数方式识别，而无需激励持续性。在湖上运行的自主水面船只上的实验结果说明了控制器在干扰较小的环境中跟踪 8 字形轨迹的能力。