Title :
An output feedback controller with wave filter for marine vehicles
Author :
Paulsen, Marit J. ; Egeland, Olav ; Fossen, Thor I.
Author_Institution :
Trondheim Univ., Norway
fDate :
29 June-1 July 1994
Abstract :
A controller with wave filter for marine vehicles in terms of the nonlinear dynamical model is derived by using a structure based on passive components. Only measurement of the position/attitude is needed to assure asymptotic stability for the position/attitude and the velocity of the vehicle. A simulation study of a ship autopilot illustrates the design procedure.
Keywords :
asymptotic stability; attitude control; dynamics; feedback; filtering theory; position control; ships; asymptotic stability; attitude control; marine vehicles; nonlinear dynamical model; output feedback controller; passive component; position control; ship autopilot; wave filter; Actuators; Control systems; Filtering; Marine vehicles; Output feedback; Passive filters; Position measurement; Vehicle dynamics; Velocity control; Velocity measurement;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752466
