Nonlinear trajectory tracking control for marine vessels with additive uncertainties

SERRANO, MARIO E.; GODOY, SEBASTIAN A.; GANDOLFO, DANIEL; MUT, VICENTE A.; SCAGLIA, GUSTAVO J. E.

INFORMATION TECHNOLOGY AND CONTROL

KAUNAS UNIV TECHNOLOGY

Año: 2018 vol. 47 p. 118 - 130

1392-124X

The paper presents a nonlinear control law for a marine vessel to track a reference trajectory. In the wake of the results obtained in [19], an integrative approach is incorporated in the linear algebra methodology in order to reduce the effect of the uncertainty in the tracking error. This new approach does not increase the complexity of the design methodology. In addition, the zero convergence of tracking error under polynomial uncertainties is demonstrated. Simulation results under environmental disturbance and model mismatches are presented and discussed.