Abstract
This paper presents new techniques for controlling the motion of an underactuated vehicle when disturbances are present and only imperfect state measurements are available for feedback. A state feedback controller is developed and then it is converted to an imperfect state measurement feedback controller. The state feedback tracking control law uses an H∞-optimal design and produces a locally exponentially stable closed-loop system. The imperfect state measurement feedback controller combines the state feedback control law with an H∞-filter to estimate the states and achieves a modified form of disturbance attention. The state estimator exploits a unique structure in the nonlinear equations of motion to develop a direct solution. The MATLAB simulations illustrate both control algorithms for an underactuated ship model.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2078-2083 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 2000 |
| Event | 39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia Duration: Dec 12 2000 → Dec 15 2000 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization