PROBIEN 20416
INSTITUTO DE INVESTIGACION Y DESARROLLO EN INGENIERIA DE PROCESOS, BIOTECNOLOGIA Y ENERGIAS ALTERNATIVAS
Unidad Ejecutora - UE
artículos
Título:
Trajectory Tracking Under Uncertainty in Marine Vessels
Autor/es:
GODOY, SEBASTIAN ALEJANDRO; SCAGLIA, GUSTAVO; GANDOLFO, DANIEL; SERRANO, MARIO EMANUEL; MUT, VICENTE
Revista:
INFORMATION TECHNOLOGY AND CONTROL
Editorial:
KAUNAS UNIV TECHNOLOGY
Referencias:
Año: 2018 vol. 47
ISSN:
1392-124X
Resumen:
The paper presents a nonlinear control law for a marine vessel to track a reference trajectory. In the wake of theresults obtained in [19], an integrative approach is incorporated in the linear algebra methodology in order toreduce the effect of the uncertainty in the tracking error. This new approach does not increase the complexityof the design methodology. In addition, the zero convergence of tracking error under polynomial uncertaintiesis demonstrated. Simulation results under environmental disturbance and model mismatches are presentedand discussed.
