Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5493
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dc.contributor.authorBıdıklı, Barış-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.contributor.authorZergeroğlu, Erkan-
dc.date.accessioned2017-05-12T12:34:57Z-
dc.date.available2017-05-12T12:34:57Z-
dc.date.issued2015-12-
dc.identifier.citationBıdıklı, 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.2015.7353503en_US
dc.identifier.issn2153-0858-
dc.identifier.urihttp://doi.org/10.1109/IROS.2015.7353503-
dc.identifier.urihttp://hdl.handle.net/11147/5493-
dc.descriptionIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015; Congress Center Hamburg (CCH) Messeplatz Hamburg; Germany; 28 September 2015 through 2 October 2015en_US
dc.description.abstractIn 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.en_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROSen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectMatrix decompositionen_US
dc.subjectRobust controlen_US
dc.subjectRobustnessen_US
dc.subjectStability analysisen_US
dc.subjectSymmetric matricesen_US
dc.subjectControllersen_US
dc.titleRobust control design for positioning of an unactuated surface vesselen_US
dc.typeConference Objecten_US
dc.authoridTR123720en_US
dc.institutionauthorTatlıcıoğlu, Enver-
dc.departmentİzmir Institute of Technology. Electrical and Electronics Engineeringen_US
dc.identifier.volume2015en_US
dc.identifier.startpage1071en_US
dc.identifier.endpage1076en_US
dc.identifier.wosWOS:000371885401034en_US
dc.identifier.scopus2-s2.0-84958181379en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1109/IROS.2015.7353503-
dc.relation.doi10.1109/IROS.2015.7353503en_US
dc.coverage.doi10.1109/IROS.2015.7353503en_US
dc.identifier.scopusquality--
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.grantfulltextopen-
item.openairetypeConference Object-
crisitem.author.dept03.05. Department of Electrical and Electronics Engineering-
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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