EXPERIMENTAL RESEARCH ON ADAPTIVE AND PORUST CONTROL OF THE SURFACE VESSEL SCALED MODEL
This work is supported by the Russian President Grant (no. MK-4397.2021.4).The paper considers the problem of positioning of a surface ship at a point under conditions of parametric uncertainty. An algorithm for robust control of the object in the presence of external disturbing influences using an adaptive internal model and an extended observer is considered. The algorithm of adaptive control using the parameter estimation algorithm based on the DREM method is considered. The results of the experiments on the robotic laboratory complex are presented.