Please use this identifier to cite or link to this item:
Title: A robust tracking controller for dynamically positioned surface vessels with added mass
Authors: Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Keywords: Controllers
Robust control
Marine industry
Marine vehicles
Issue Date: 2014
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Bıdıklı, B., Tatlıcıoğlu, E. and Zergeroğlu, E. (2014, December 15-17). A robust tracking controller for dynamically positioned surface vessels with added mass. Paper presented at the 53rd IEEE Annual Conference on Decision and Control. doi:10.1109/CDC.2014.7040073
Abstract: This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed-loop system and asymptotic convergence of the tracking error signal. © 2014 IEEE.
Description: 53rd IEEE Annual Conference on Decision and Control, CDC 2014; JW Marriott Hotel Los Angeles L.A.; United States; 15 December 2014 through 17 December 2014
ISBN: 9781467360906
ISSN: 0743-1546
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Files in This Item:
File Description SizeFormat 
5381.pdfConference Paper291.39 kBAdobe PDFThumbnail
Show full item record

CORE Recommender


checked on Feb 16, 2024


checked on Jan 20, 2024

Page view(s)

checked on Feb 19, 2024


checked on Feb 19, 2024

Google ScholarTM



Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.