Robust control design for positioning of an unactuated surface vessel
Conference paper > Full Text · 2015
Authors: Baris Bidikli, Enver TATLICIOĞLU, Erkan Zergeroglu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Germany, Hamburg, International, Verbal, Full Text, 2015-2015, vol 2015-December, pp 1071-1076
DOI: 10.1109/IROS.2015.7353503
Summary
In 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