Title :
Robust output tracking control of a surface vessel
Author :
Lee, DongBin ; Tatlicioglu, Enver ; Burg, Timothy C. ; Dawson, Darren M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC
Abstract :
In this paper, tracking control of a three degree- of-freedom marine vessel is examined. The primary motivation for this work is the compensation needed for the added mass common to surface vessels, resulting in an asymmetric inertia matrix. Two control schemes are considered: a full- state feedback controller and an output feedback controller. Numerical simulation results are shown to demonstrate the validity of these proposed controllers.
Keywords :
marine vehicles; matrix algebra; position control; robust control; state feedback; asymmetric inertia matrix; full-state feedback controller; output feedback controller; robust output tracking control; surface vessel; three degree-of-freedom marine vessel; Adaptive control; Control systems; Marine vehicles; Nonlinear dynamical systems; Numerical simulation; Output feedback; Robust control; Surface fitting; Symmetric matrices; Weight control;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586548
