Robust control design for positioning of an unactuated surface vessel

Baris Bidikli; Enver Tatlicioglu; Erkan Zergeroglu

IROS 2015poster7 citations

Robust control design for positioning of an unactuated surface vessel

Baris Bidikli, Enver Tatlicioglu, Erkan Zergeroglu

Abstract

In this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats to specific configurations, the control problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Upon applying a matrix decomposition, a robust controller is proposed. Detailed stability analysis ensured asymptotic tracking. Numerical simulation results demonstrate the efficiency of the proposed controller.

BibTeX

@inproceedings{iros2015_robustcontroldes,
  title = {Robust control design for positioning of an unactuated surface vessel},
  author = {Baris Bidikli and Enver Tatlicioglu and Erkan Zergeroglu},
  booktitle = {IROS 2015},
  year = {2015}
}