Observer Based Output Feedback Tracking Control of Dynamically Positioned Surface Vessels
Bildiriler > Tam Metin Bildiri · 2013
Yazarlar: Baris Bidikli, Enver TATLICIOĞLU, Erkan Zergeroglu
American Control Conference (ACC), Amerika Birleşik Devletleri, Washington, DC,, Uluslararası, Sözlü Sunum, Tam Metin Bildiri, 2013-2013, ss 554-559
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.