Please use this identifier to cite or link to this item:
|Title:||Robust adaptive position mooring control for marine vessels|
robust adaptive control
|Source:||Chen, M., Ge, S.S., How, B.V.E., Choo, Y.S. (2013). Robust adaptive position mooring control for marine vessels. IEEE Transactions on Control Systems Technology 21 (2) : 395-409. ScholarBank@NUS Repository. https://doi.org/10.1109/TCST.2012.2183676|
|Abstract:||In this paper, robust adaptive control with dynamic control allocation is proposed for the positioning of marine vessels equipped with a thruster assisted mooring system, in the presence of parametric uncertainties, unknown disturbances and input nonlinearities. Using neural network approximation and variable structure based techniques in combination with backstepping and Lyapunov synthesis, the positioning control is developed to handle the uncertainties, input saturation and dead-zone characteristics of the mooring lines and thrusters. Full state feedback with all states measurable and output feedback using high gain observer to estimate unmeasurable states are considered. Dynamic control allocation is presented for actuation of the position mooring system. Under the proposed robust adaptive control, semi-global uniform boundedness of the closed-loop signals are guaranteed. Numerical simulations are carried out to show the effectiveness of the proposed control. © 2012 IEEE.|
|Source Title:||IEEE Transactions on Control Systems Technology|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Feb 21, 2018
WEB OF SCIENCETM
checked on Jan 15, 2018
checked on Feb 18, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.