By Topic

Control of fully actuated ocean surface vessels using a class of feedforward approximators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Keng Peng Tee ; Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore ; Ge, S.S.

In this brief, we consider the problem of tracking a desired trajectory for fully actuated ocean vessels, in the presence of uncertainties and unknown disturbances. The combination of approximation-based and domination design techniques allows us to handle time-varying disturbances, without the need for explicit knowledge of the bounds. Using backstepping and Lyapunov synthesis, the stable tracking controller is first designed for the full-state feedback case. Subsequently, the output feedback problem is tackled by employing a high-gain observer to estimate the unmeasurable states required by the stable tracking controller. Under the proposed control, semiglobal uniform boundedness of the closed-loop signals is guaranteed for both full-state and output feedback cases.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:14 ,  Issue: 4 )