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

Bidikli B., TATLICIOĞLU E., ZERGEROĞLU E.

JOURNAL OF MARINE SCIENCE AND TECHNOLOGY, cilt.22, sa.2, ss.376-387, 2017 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 22 Sayı: 2
  • Basım Tarihi: 2017
  • Doi Numarası: 10.1007/s00773-016-0417-7
  • Dergi Adı: JOURNAL OF MARINE SCIENCE AND TECHNOLOGY
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.376-387
  • Anahtar Kelimeler: Adaptive control, Observer-based control, Surface vessels, DESIGN, SHIPS
  • Dokuz Eylül Üniversitesi Adresli: Hayır

Özet

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.