IEEE Transactions on Control Systems Technology · 2006 · 337 citations · 15 references
EngineeringMarine EngineeringOcean EngineeringMarine RoboticsNaval ArchitectureShip ControlControl SystemsControl TheoryMarine Robot ControlRobust ControlShip DynamicsShip Motion ControlHigh-gain ObserversLyapunov ControlLyapunov StabilityMarine Control System DesignOutput Feedback ControlState Feedback ControlUnderwater Vehicle ControlVessel Control Systems
Tracking desired trajectories for fully actuated ocean vessels amid uncertainties and unknown disturbances is the central problem addressed. The study develops a controller that achieves trajectory tracking for such vessels despite these uncertainties. A stable tracking controller is constructed using approximation‑based and domination design techniques, backstepping with Lyapunov synthesis for full‑state feedback, and a high‑gain observer for output‑feedback implementation. The resulting controller guarantees semiglobal uniform boundedness of the closed‑loop signals in both full‑state and output‑feedback cases.
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.
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