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Title: Robust control design for positioning of an unactuated surface vessel
Authors: Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Keywords: Matrix decomposition
Robust control
Stability analysis
Symmetric matrices
Issue Date: Dec-2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Bıdıklı, B., and Tatlıcıoğlu, E. (2015, September). Robust control design for positioning of an unactuated surface vessel. Paper presented at the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. doi:10.1109/IROS.2015.7353503
Abstract: In this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats to specific configurations, the control problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Upon applying a matrix decomposition, a robust controller is proposed. Detailed stability analysis ensured asymptotic tracking. Numerical simulation results demonstrate the efficiency of the proposed controller © 2015 IEEE.
Description: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015; Congress Center Hamburg (CCH) Messeplatz Hamburg; Germany; 28 September 2015 through 2 October 2015
ISSN: 2153-0858
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

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