Robust output tracking control of a surface vessel
Conference paper > Full Text · 2008
Authors: DongBin Lee, Enver TATLICIOĞLU, Timothy C. Burg, Darren M. Dawson
American Control Conference 2008, United States Of America, International, Verbal, Full Text, 2008-2008, WoS, vol , pp 544-545
Summary
In this paper, tracking control of a three degree- of-freedom marine vessel is examined. The primary motivation for this work is the compensation needed for the added mass common to surface vessels, resulting in an asymmetric inertia matrix. Two control schemes are considered: a full- state feedback controller and an output feedback controller. Numerical simulation results are shown to demonstrate the validity of these proposed controllers.