Global output feedback control of dynamically positioned surface vessels: an adaptive control approach

Author

Fang, Y. ; Zergeroglu, E. ; de Queiroz, M.S. ; Dawson, D.M.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

4

fYear

2001

fDate

2001

Firstpage

3109

Abstract

In this paper, we consider the output feedback control problem for dynamically positioned surface vessels when uncertainties related to the system parameters are present. Specifically, by applying Lyapunov techniques, we design a nonlinear model based adaptive output feedback controller that achieves global asymptotic tracking and compensates for the parametric uncertainties associated with nonlinear ship dynamics despite the lack of velocity measurements. Simulation results are included to illustrate the performance of the proposed control law

Keywords

adaptive control; feedback; marine vehicles; remotely operated vehicles; tracking; adaptive control; adaptive controller; adaptive output feedback controller; dynamically positioned surface vessels; global asymptotic tracking; output feedback control; surface vessels; Adaptive control; Automatic control; Control systems; Ear; Marine vehicles; Output feedback; Programmable control; Vehicle dynamics; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.946397

Filename

946397