Adaptive Output Tracking Control of a Surface Vessel
Dongbin Lee: 0000-0002-5307-0374
Electrical and Computer Engineering
2008 47th IEEE Conference on Decision and Control
09-11 December 2008
Date of Presentation
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.
Burg, T. C.,
Dawson, D. M.,
Adaptive Output Tracking Control of a Surface Vessel.
Paper presented at 2008 47th IEEE Conference on Decision and Control in Cancun, Mexico.