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Title: Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach
Authors: Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: Added mass
Positioning control
Robust control
Surface vessels
Issue Date: 2017
Publisher: Elsevier Ltd.
Source: Bıdıklı, B., Tatlıcıoğlu, E., and Zergeroğlu, E. (2017). Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach. Ocean Engineering, 139, 198-198. doi:10.1016/j.oceaneng.2017.05.002
Abstract: In this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a novel continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix. The proposed controller compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix. Stability of the closed–loop system and asymptotic convergence are proven via Lyapunov based approaches. Simulation studies are also presented to illustrate the viability of the proposed method
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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