Global output feedback control of dynamically positioned surface vessels: An adaptive control approach

被引：0
|
作者：
Fang, Y [1 ]
Zergeroglu, E [1 ]
de Queiroz, MS [1 ]
Dawson, DM [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we consider the output feedback control problem for dynamically positioned surface vessels when uncertainties related to the system parameters are present. Specifically, by applying Lyapunov techniques, we design a nonlinear model based adaptive output feedback controller that achieves global asymptotic tracking and compensates for the parametri. c uncertainties associated with nonlinear ship dynamics, despite the lack of velocity measurements. Simulation results are included to illustrate the performance of the proposed control law.
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页码：3109 / 3114
页数：6
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