Adaptive robust control of marine vehicles with periodic disturbance compensation: an observer-based output feedback approach

This work concentrates on output feedback trajectory tracking control of marine vehicles with dynamical uncertainties. The system under consideration, due to the natural response of oceanic waves, is also subject to periodic external disturbances. The output feedback structure of the proposed contro...

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Bibliographic Details
Published in:Journal of marine science and technology Vol. 27; no. 2; pp. 935 - 947
Main Authors: Kurtoglu, Deniz, Bidikli, Baris, Tatlicioglu, Enver, Zergeroglu, Erkan
Format: Journal Article
Language:English
Published: Tokyo Springer Japan 01.06.2022
Springer
Springer Nature B.V
Subjects:
Adaptive control
Algorithms
Analysis
Automotive Engineering
Closed loops
Control algorithms
Design
Engineering
Engineering Design
Engineering Fluid Dynamics
Feedback
Feedback control
Fourier series
Mathematical models
Mechanical Engineering
Numerical analysis
Offshore Engineering
Original Article
Output feedback
Robust control
Series expansion
Systems development
Tracking control
Trajectory control
Underwater pipelines
Vehicles
Velocity
Robust adaptive control
Tracking control
Marine vehicles
Output feedback
ISSN:0948-4280, 1437-8213
Online Access:Get full text
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Summary:This work concentrates on output feedback trajectory tracking control of marine vehicles with dynamical uncertainties. The system under consideration, due to the natural response of oceanic waves, is also subject to periodic external disturbances. The output feedback structure of the proposed controller algorithm is established via a novel nonlinear model-free observer in conjunction with a Fourier series expansion-based periodic disturbance estimator. Lyapunov-based arguments have been utilized to prove the stability of the closed loop system and the convergence of tracking and unmeasured state observation errors under the closed loop operation. Performance demonstration and viability of the proposed method are realized via comparative numerical simulations.
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ISSN:0948-4280
1437-8213
DOI:10.1007/s00773-022-00886-6