A robust tracking controller for dynamically positioned surface vessels with added mass

Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan

doi:10.1109/cdc.2014.7040073

Cited by 6 publications

(3 citation statements)

References 26 publications

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“…In [18], a model-reference adaptive control technique cascaded with adaptive Kalman filter was presented for dynamically positioned shuttle tanker. In our previous study [5], a novel continuous robust full-state feedback controller was designed for surface vessels that contains unstructured uncertainties in its system matrices.…”

Section: Introductionmentioning

confidence: 99%

Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels

2016

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In this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels

2016

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“…Proof: Readers can refer to [18] for the proof. Remark 3: As a result of the fact thatŪ u (t) being unity upper triangular, Θ (t) in (45) can be rewritten as…”

Section: Stability Analysismentioning

confidence: 99%

“…(68) Proof: Reader can refers to [18] for the proof. Theorem 2: (Asymptotic convergence proof) Given the dynamic model in (1) and (2), the controller of (33) and (34) ensures the tracking error signal e 1 (t) converges to origin asymptotically in the sense that…”

Section: Stability Analysismentioning

confidence: 99%

Robust control design for positioning of an unactuated surface vessel

Bıdıklı

Tatlıcıoğlu

Zergeroğlu

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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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. I. INTRODUCTIONThe positioning of large surface vessels like barges, platforms and unactuated ships is considered as the marine example of the swarm robotic applications. Since these types of large vessels can not generate necessary position and orientation control effort due to their low speed operation, they are in need of assistance of multiple tugboats. As a result of this, this objective is realized via a group of tugboats that are strategically positioned along the vessel's hull. Manipulation with multiple tugboats can be seen as a feasible solution for these type of applications. However, the radio communication between all involved tugboats, especially in human manipulated tugboats, affects the control performance dramatically. Although, the communication performance is increased with advanced global positioning systems, control of these type of systems is still a challenging problem because of possible problems that may arise in communication system during manipulation. As a natural result of these, above mentioned marine control problem has attracted attention of the control community.In the last decade, different types of controller designs have been proposed for these type of applications. In [1], orientation tracking control of a unactuated vessel through the utilization of a swarm of vehicles operating in a decentralized fashion was achieved via presented robust control strategy. In order to design this robust controller, the influence of the other swarm vehicle was treated as a force disturbance into the model dynamics. In [2], an exact model knowledge position and orientation tracking controller was proposed for an unactuated surface vessel. In [3], an adaptive position

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