Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
8064913 | Ocean Engineering | 2016 | 9 Pages |
Abstract
In this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple uni-directional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Ocean Engineering
Authors
Baris Bidikli, Enver Tatlicioglu, Erkan Zergeroglu,