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


Bidikli B., TATLICIOĞLU E., ZERGEROĞLU E.

JOURNAL OF MARINE SCIENCE AND TECHNOLOGY, vol.22, no.2, pp.376-387, 2017 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 22 Issue: 2
  • Publication Date: 2017
  • Doi Number: 10.1007/s00773-016-0417-7
  • Journal Name: JOURNAL OF MARINE SCIENCE AND TECHNOLOGY
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.376-387
  • Keywords: Adaptive control, Observer-based control, Surface vessels, DESIGN, SHIPS
  • Dokuz Eylül University Affiliated: No

Abstract

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.