Adaptive Output Tracking Control of a Surface Vessel

Authors

Dongbin Lee, University of the PacificFollow
Timothy C. Burg, Clemson University
Darren M. Dawson
Enver Tatlicioglu

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