Title
Adaptive Output Tracking Control of a Surface Vessel
ORCiD
Dongbin Lee: 0000-0002-5307-0374
Document Type
Conference Proceeding
Department
Electrical and Computer Engineering
Conference Title
2008 47th IEEE Conference on Decision and Control
Location
Cancun, Mexico
Conference Dates
09-11 December 2008
Date of Presentation
12-1-2008
Abstract
In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers.
Publisher
IEEE
ISBN
978-1-4244-3123-6
ISSN
0191-2216
DOI
10.1109/CDC.2008.4739313
Recommended Citation
Lee, D.,
Burg, T. C.,
Dawson, D. M.,
&
Tatlicioglu, E.
(2008).
Adaptive Output Tracking Control of a Surface Vessel.
Paper presented at 2008 47th IEEE Conference on Decision and Control in Cancun, Mexico.
https://scholarlycommons.pacific.edu/soecs-facpres/627
