DocumentCode
2381295
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
fYear
2008
fDate
11-13 June 2008
Firstpage
544
Lastpage
549
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2008
Conference_Location
Seattle, WA
ISSN
0743-1619
Print_ISBN
978-1-4244-2078-0
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2008.4586548
Filename
4586548
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