Robust output tracking control of a surface vessel

2008 47th IEEE Conference on Decision and Control

Burg

et al. 2008

Self Cite

Abstract-In 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.

Section: Introductionmentioning

confidence: 99%

Adaptive output tracking control of a surface vessel

Lee

2008 47th IEEE Conference on Decision and Control

Burg

et al. 2008

Self Cite

“…By utilizing (16), the Lyapunov function in (70) can be lower and upper bounded in the following form…”

Section: Stability Analysismentioning

confidence: 99%

“…(57) where z(t) was defined in (46), and the terms m ,m ( z ) were introduced in (16). Taking the time derivative of (56), making necessary substitutions, and then performing straightforward mathematical manipulations and grouping, results in the following inequalitẏ…”

Section: Stability Analysismentioning

confidence: 99%

“…And when not appropriately dealt with, this may cause reduction in performance, even instability. To our best knowledge there are only a few control design works that considered asymmetric added mass in the inertia matrix, as in robust and adaptive type controllers designed in [16] and [17], respectively. The aforementioned controllers were designed based on Lyapunov-type analysis methods, and were able to achieve only the ultimate boundedness of the tracking error signals.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Bıdıklı

53rd IEEE Conference on Decision and Control

Zergeroğlu

2014

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Abstract-This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at the acceleration level. Specifically, we propose a novel continuous robust controller for surface vessels that, in addition to asymmetric added mass in its inertia matrix, contains unstructured uncertainties in all its system matrices. The proposed controller compensates the overall system uncertainties and ensures asymptotic tracking, while requiring only the knowledge of the sign of the leading principle minors of the input gain matrix. Lyapunov based approaches are applied in order to prove the stability of the closed-loop system and asymptotic convergence of the tracking error signal.

“…Example applications for the system model in (2) include, but not limited to, visual servoing (Zergeroglu, Dawson, de Queiroz, & Behal, 2001), thermal management (Setlur, Wagner, Dawson, & Chen, 2003), aeroelasticity vibration suppression (Reddy, Chen, Behal, & Marzocca, 2007), and surface vessels (Lee, Tatlicioglu, Burg, & Dawson, 2008).…”

Section: Introductionmentioning

confidence: 99%

An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics

Bıdıklı

International Journal of Systems Science

Zergeroğlu

et al. 2015

Self Cite

In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.Keywords: nonlinear uncertain dynamical systems; multi-input/multi-output systems; robust control; Lyapunov methods Nomenclature x(t) System states x (i) (t) ith-order time derivative of x(t) H(·), h(·) Functional containing uncertain components G(·), g(·)Real-valued matrix with nonzero leading principal minors τ (t), τ 1 (t), τ 2 (t) Control inputs X(t) Combined state vector S(X) Symmetric positive definite matrix D Diagonal matrix with entries ±1 U(X) Unity upper triangular matriẋ τ (t) Time derivative of control input ϕ (X, x (n) ) Auxiliary function m Positive bounding constant m (X) Positive non-decreasing bounding function x r (t) Reference trajectory e 1 (t) Output tracking error e i (t) Auxiliary error signals for i = 2, . . ., n r(t) Filtered error signal a i, j Positive-valued coefficients generated via a Fibonacci number series I m m × m identity matrix 0 m × 1