Nonlinear Trajectory Tracking Control for Marine Vessels with Additive Uncertainties
The paper presents a nonlinear control law for a marine vessel to track a reference trajectory. In the wake of theresults obtained in [19], an integrative approach is incorporated in the linear algebra methodology in order toreduce the effect of the uncertainty in the tracking error. This new approa...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2018 |
| País: | Argentina |
| Institución: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/93307 |
| Acceso en línea: | http://hdl.handle.net/11336/93307 |
| Access Level: | acceso abierto |
| Palabra clave: | trajectory tracking nonlinear control marine vessels uncertain polynomials https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Sumario: | The paper presents a nonlinear control law for a marine vessel to track a reference trajectory. In the wake of theresults obtained in [19], an integrative approach is incorporated in the linear algebra methodology in order toreduce the effect of the uncertainty in the tracking error. This new approach does not increase the complexityof the design methodology. In addition, the zero convergence of tracking error under polynomial uncertaintiesis demonstrated. Simulation results under environmental disturbance and model mismatches are presentedand discussed. |
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