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|Title:||Robust control design for positioning of an unactuated surface vessel||Authors:||Bıdıklı, Barış
|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||URI:||http://doi.org/10.1109/IROS.2015.7353503
|Appears in Collections:||Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği|
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