Observer based output feedback tracking control of dynamically positioned surface vessels

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Date

2013

Authors

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers Inc.

Abstract

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.

Description

Keywords

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

Citation

URI

http://akademikarsiv.cbu.edu.tr:4000/handle/123456789/17399

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