This brief presents the design of a controller that allows an underactuated vessel to track a reference trajectory in the x − y plane. A trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. Such a model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero, and the calculation of control actions are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented here and complete the previous work of the authors. Simulation results show the good performance of the proposed control system.
This paper aims to solve the problem
of tracking optimal profiles
for a nonlinear multivariable fed-batch bioprocess by a simple but
efficient closed-loop control technique based on a linear algebra
approach. In the proposed methodology, the control actions are obtained
by solving a system of linear equations without the need for state
transformations. The optimal profiles to follow are directly those
corresponding to output desired variables, therefore, estimation of
states for nonmeasurable variables is considered by employing a neural
networks method. The efficiency of the proposed controller is tested
through several simulations, including process disturbances and operation
under parametric uncertainty. The optimal controller parameters are
selected through the Montecarlo Randomized Algorithm. In addition,
proof of convergence to zero of tracking errors is analyzed and included
in this article.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.