A trajectory tracking robust controller of surface vessels with disturbance uncertainties

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/61989100:27740/14:86092761

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

A trajectory tracking robust controller of surface vessels with disturbance uncertainties

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A trajectory tracking robust controller of surface vessels with disturbance uncertainties

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

<a href="/cs/project/ED1.1.00%2F02.0070" target="_blank" >ED1.1.00/02.0070: Centrum excelence IT4Innovations</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Control Systems Technology. Volume 22

ISSN

1063-6536

e-ISSN

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Svazek periodika

22

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

1511-1518

Kód UT WoS článku

000338193100022

EID výsledku v databázi Scopus

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