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|Title:||Control of fully actuated ocean surface vessels using a class of feedforward approximators|
Marine vehicle control
|Citation:||Tee, K.P., Ge, S.S. (2006-07). Control of fully actuated ocean surface vessels using a class of feedforward approximators. IEEE Transactions on Control Systems Technology 14 (4) : 750-756. ScholarBank@NUS Repository. https://doi.org/10.1109/TCST.2006.872507|
|Abstract:||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. © 2006 IEEE.|
|Source Title:||IEEE Transactions on Control Systems Technology|
|Appears in Collections:||Staff Publications|
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