Robust Control Design for Positioning of an Unactuated Surface Vessel

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dc.contributor.authorBidikli, Baris
dc.contributor.authorTatlıcıoğlu, Enver
dc.contributor.authorZergeroğlu, Erkan
dc.date.accessioned2025-10-29T11:37:23Z
dc.date.issued2015
dc.departmentFakülteler, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümü
dc.departmentFakülteler, Mühendislik Fakültesi, Elektronik Mühendisliği Bölümü
dc.descriptionIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) -- SEP 28-OCT 02, 2015 -- Hamburg, GERMANY
dc.description.abstractIn this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats to specific configurations, the control problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Upon applying a matrix decomposition, a robust controller is proposed. Detailed stability analysis ensured asymptotic tracking. Numerical simulation results demonstrate the efficiency of the proposed controller.
dc.description.sponsorshipIEEE,RSJ,Univ Hamburg,DFG,RA,New Technol Fdn,SICE,KUKA,DJI,Rethink Robot,BOSCH,Chinese Acad Sci, SIAT,Boozhong,Adept,Automatica,HIT,Ascending Technol,OPTOFORCE,DST Robot,BA Syst,Rainbow Robot,SIA,CLEARPATH Robot,Swiss Natl Ctr Competence Res Robot,SINEVA,Dyson,SICK,Robocept,Force Dimension,Open Unit Robot,Luoyang Natl Univ Sci Park,Fuzhou Univ,Synapticon,Google,Technishce Univ Munchen,iRobot,Echord++,Khalifa Univ,Pan Robot,FESTO,Kinova Robot,SCHUNK,ies
dc.identifier.endpage1076
dc.identifier.isbn978-1-4799-9994-1
dc.identifier.issn2153-0858
dc.identifier.orcid0000-0002-1211-0448
dc.identifier.scopus2-s2.0-84958181379
dc.identifier.scopusqualityN/A
dc.identifier.startpage1071
dc.identifier.urihttps://hdl.handle.net/20.500.14854/13810
dc.identifier.wosWOS:000371885401034
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIEEE
dc.relation.ispartof2015 Ieee/Rsj International Conference on Intelligent Robots and Systems (Iros)
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20251020
dc.subjectAdaptive-Control
dc.subjectShip
dc.titleRobust Control Design for Positioning of an Unactuated Surface Vessel
dc.typeConference Object

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