Lee, DongbinTatlıcıoğlu, EnverTatlıcıoğlu, EnverBurg, Timothy C.Dawson, Darren M.03.05. Department of Electrical and Electronics Engineering03. Faculty of Engineering01. Izmir Institute of Technology2016-10-272016-10-272008Lee, D., Tatlıcıoğlu, E., Burg, T. C., and Dawson, D. M. (2008, December 9-11). Adaptive output tracking control of a surface vessel. Paper presented at the 47th IEEE Conference on Decision and Control. doi:10.1109/CDC.2008.47393130191-2216http://doi.org/10.1109/CDC.2008.4739313http://hdl.handle.net/11147/234747th IEEE Conference on Decision and Control, CDC 2008; Cancun; Mexico; 9 December 2008 through 11 December 2008In 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.eninfo:eu-repo/semantics/openAccessFeedback controlAdaptation lawsControl designsInertia matrixesOutput feedback controllersSurface vesselsConference Object2-s2.0-6294909146910.1109/CDC.2008.4739313