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Title: Adaptive output tracking control of a surface vessel
Authors: Lee, Dongbin
Tatlıcıoğlu, Enver
Burg, Timothy C.
Dawson, Darren M.
Keywords: Feedback control
Adaptation laws
Control designs
Inertia matrixes
Output feedback controllers
Surface vessels
Issue Date: 2008
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Lee, D., Tatlıcıoğlu, E., Burg, T. C., and Dawson, D. M. (2008, December 9-11). Adaptive output tracking control of a surface vessel. Paper presented at the 47th IEEE Conference on Decision and Control. doi:10.1109/CDC.2008.4739313
Abstract: In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers.
Description: 47th IEEE Conference on Decision and Control, CDC 2008; Cancun; Mexico; 9 December 2008 through 11 December 2008
ISSN: 0191-2216
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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