A trajectory tracking robust controller of surface vessels with disturbance uncertainties
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F14%3A86092761" target="_blank" >RIV/61989100:27240/14:86092761 - isvavai.cz</a>
Alternative codes found
RIV/61989100:27740/14:86092761
Result on the web
<a href="http://dx.doi.org/10.1109/TCST.2013.2281936" target="_blank" >http://dx.doi.org/10.1109/TCST.2013.2281936</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TCST.2013.2281936" target="_blank" >10.1109/TCST.2013.2281936</a>
Alternative languages
Result language
angličtina
Original language name
A trajectory tracking robust controller of surface vessels with disturbance uncertainties
Original language description
This brief considers the problem of trajectory tracking control for marine surface vessels with unknown time-variant environmental disturbances. The adopted mathematical model of the surface ship movement includes the Coriolis and centripetal matrix andthe nonlinear damping terms. An observer is constructed to provide an estimation of unknown disturbances and is applied to design a novel trajectory tracking robust controller through a vectorial backstepping technique. It is proved that the designed tracking controller can force the ship to track the arbitrary reference trajectory and guarantee that all the signals of the closed-loop trajectory tracking control system of ships are globally uniformly ultimately bounded. The simulation results and comparisons illustrate the effectiveness of the proposed controller and its robustness to external disturbances.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
<a href="/en/project/ED1.1.00%2F02.0070" target="_blank" >ED1.1.00/02.0070: IT4Innovations Centre of Excellence</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Transactions on Control Systems Technology. Volume 22
ISSN
1063-6536
e-ISSN
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Volume of the periodical
22
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
1511-1518
UT code for WoS article
000338193100022
EID of the result in the Scopus database
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