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
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;
Conference_Titel :
OCEANS 2010 IEEE - Sydney
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4244-5221-7
Electronic_ISBN :
978-1-4244-5222-4
DOI :
10.1109/OCEANSSYD.2010.5603533
