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https://hdl.handle.net/11147/2347
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 |
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 | URI: | http://doi.org/10.1109/CDC.2008.4739313 http://hdl.handle.net/11147/2347 |
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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