Observer based output feedback tracking control of dynamically positioned surface vessels
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Tarih
Dergi Başlığı
Dergi ISSN
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Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
This work concentrates on tracking control of dynamically positioned surface vessels where only position and orientation measurements are available. Specifically, in order to remove the velocity measurement dependency of the control formulation, we designed a nonlinear, model-free observer which enables the observer-controller couple to achieve asymptotic tracking. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method. © 2013 AACC American Automatic Control Council. © 2020 Elsevier B.V., All rights reserved.
Açıklama
2013 1st American Control Conference, ACC 2013 -- Washington, DC -- 99095
Anahtar Kelimeler
Closed loop control systems, Closed loop systems, Dynamic positioning, Navigation, Asymptotic tracking, Dynamically positioned, Observer based output feedbacks, Observer controllers, Position and orientation measurements, Simulation studies, Surface vessels, Tracking controls, Feedback
Kaynak
Proceedings of the American Control Conference
