Observer based output feedback tracking control of dynamically positioned surface vessels

Creative Commons License

Bidikli B., TATLICIOĞLU E., Zergeroglu E.

2013 1st American Control Conference, ACC 2013, Washington, Amerika Birleşik Devletleri, 17 - 19 Haziran 2013, ss.554-559, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/acc.2013.6579895
  • Basıldığı Şehir: Washington
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.554-559
  • Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
  • Manisa Celal Bayar Üniversitesi Adresli: Evet

Özet

This work concentrates on tracking control of dynamically positioned surface vessels where only position and orientation measurements are available. Specifically, in order to remove the velocity measurement dependency of the control formulation, we designed a nonlinear, model-free observer which enables the observer-controller couple to achieve asymptotic tracking. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method. © 2013 AACC American Automatic Control Council.