Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6129
Title: Robust dynamic positioning of surface vessels via multiple unidirectional tugboats
Authors: Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: Positioning control
Robust control
Surface vessels
Tugboats
Issue Date: 1-Feb-2016
Publisher: Elsevier Ltd.
Source: Bıdıklı, B., Tatlıcıoǧlu, E., and Zergeroǧlu, E. (2016). Robust dynamic positioning of surface vessels via multiple unidirectional tugboats. Ocean Engineering, 113, 237-245. doi:10.1016/j.oceaneng.2015.12.057
Abstract: In this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple uni-directional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller.
URI: http://doi.org/10.1016/j.oceaneng.2015.12.057
http://hdl.handle.net/11147/6129
ISSN: 0029-8018
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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