DocumentCode
2595176
Title
Trajectory tracking for marine vehicles under constant disturbances: Controller design and tuning
Author
Burger, M. ; Pettersen, K.Y.
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol. (NTNU), Trondheim, Norway
fYear
2010
fDate
24-27 May 2010
Firstpage
1
Lastpage
6
Abstract
This article discusses target tracking for marine vehicles in the presence of constant disturbances. In previous work the stability analysis for the system has been discussed. In this article we show both theoretically and by simulation what the effect of the tuning parameters on the closed-loop system is, and provide a set of tuning rules.
Keywords
closed loop systems; control system synthesis; marine vehicles; mobile robots; position control; stability; closed-loop system; constant disturbances; marine vehicles; stability analysis; trajectory tracking; tuning parameters; Convergence; Eigenvalues and eigenfunctions; Estimation; Marine vehicles; Oceans; Trajectory; Tuning;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS 2010 IEEE - Sydney
Conference_Location
Sydney, NSW
Print_ISBN
978-1-4244-5221-7
Electronic_ISBN
978-1-4244-5222-4
Type
conf
DOI
10.1109/OCEANSSYD.2010.5603533
Filename
5603533
Link To Document