Output feedback tracking control for ships
In the present paper a nonlinear observer and feedback control law is proposed for output feedback tracking of ships. The control law uses the filtered measurements together with the estimated velocities for feedback since the measurements are quite corrupted with noise. The observer and controller design are combined in order to utilize the observer structure in controller design and vice versa, in order to develop a computationally simple observer and control law. The resulting system is proved to be semi-globally exponential stable. If the Coriolis and centripetal forces and moments are negligible, as in the special case where the desired trajectory is a constant position and orientation, the system is globally exponentially stable. Simulation results for this output feedback tracking control scheme are presented. For the entire collection see [Zbl 0915.00063].
- Semi-global output feedback tracking control for fully actuated ships
- An output feedback tracking controller for ships with nonlinear damping terms
- Global partial-state feedback and output-feedback tracking controllers for underactuated ships
- Ship formation control via output feedback with unknown dynamics
- Underactuated ship tracking control: Theory and experiments
- Universal controllers for stabilization and tracking of underactuated ships.
- Global partial-state feedback and output-feedback tracking controllers for underactuated ships
- Robust nonlinear observer and observer-backstepping control design for surface ships
- Semi-global output feedback tracking control for fully actuated ships
- Ship formation control via output feedback with unknown dynamics
- An output feedback tracking controller for ships with nonlinear damping terms
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