Original scientific paper

https://doi.org/10.7305/automatika.2017.12.1485

Output Feedback Look-ahead Position Control of Electrically Driven Fast Surface Vessels

Padideh Rasouli ; Affiliation: Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
Khoshnam Shojaei orcid.org/0000-0003-1799-2141 ; Affiliation: Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
Abbas Chatraei ; Affiliation: Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran

Abstract

Robust tracking is an issue of vital practical importance to the ship This paper addresses the design of a trajectory tracking controller for fast underactuated ships in the presence of model uncertainties without velocity measurements in the yaw and surge directions. An observer-based trajectory tracking controller is proposed for the fast underactuated ship model. Then, the dynamic surface control approach is effectively exploited to propose a tracking controller considering the actuator dynamics. Adaptive robust techniques are also adopted to cope with the parametric and non-parametric uncertainties in the fast underactuated ship model. A Lyapunov-based stability analysis is utilised to guarantee that tracking and state estimation errors are uniformly ultimately bounded. Simulation results are presented to illustrate the feasibility and efficiency of the proposed controller.

Keywords

Actuator dynamics; adaptive control; model uncertainty; output feedback; trajectory tracking

Hrčak ID:

196095

URI

https://hrcak.srce.hr/196095

Publication date:

19.1.2018.

Article data in other languages: croatian

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