A composite adaptive tracking controller for dynamically positioned surface vessels with only position measurements

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dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.authorscopusid57406966800
dc.authorscopusid14034778100
dc.authorscopusid57220036361
dc.contributor.authorAktas, Unal
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorZergeroglu, Erkan
dc.date.accessioned2023-01-12T19:56:00Z
dc.date.available2023-01-12T19:56:00Z
dc.date.issued2022
dc.departmentN/A/Departmenten_US
dc.description.abstractThis work presents an alternative solution to the tracking control of dynamically positioned surface vessels having uncertainties associated with their dynamical model while using only vessel's position measurements. Specifically, a surrogate state filter in conjunction with a composite parameter estimation algorithm is applied to ensure semi-global asymptotic convergence of the states of the vessel to their respective desired values. As opposed to its solely gradient based counterparts, the proposed algorithm utilizes an update law that is composed of a gradient update law driven by position tracking error and a least squares update law driven by the prediction error. This enables the proposed controller to compensate for the model uncertainties in a relatively shorter period of time. Rigorous analysis based on Lyapunov type approaches are applied in order to ensure the stability and boundedness of the closed loop system. Comparative simulations performed on the model of a surface vessel are presented in order to illustrate the tracking, and parameter estimation performance of the proposed controller/adaptation algorithm.en_US
dc.identifier.doi10.1016/j.oceaneng.2021.110416
dc.identifier.issn0029-8018
dc.identifier.issn1873-5258
dc.identifier.issn0029-8018en_US
dc.identifier.issn1873-5258en_US
dc.identifier.scopus2-s2.0-85122576449en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.urihttps://doi.org/10.1016/j.oceaneng.2021.110416
dc.identifier.urihttps://hdl.handle.net/11454/76785
dc.identifier.volume245en_US
dc.identifier.wosWOS:000768903300004en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherPergamon-Elsevier Science Ltden_US
dc.relation.ispartofOcean Engineeringen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectDynamic positioning of surface vesselsen_US
dc.subjectAdaptive controlen_US
dc.subjectParameter estimationen_US
dc.subjectTracking performanceen_US
dc.subjectOutput-Feedback Trackingen_US
dc.subjectSystemsen_US
dc.subjectDesignen_US
dc.subjectShipsen_US
dc.titleA composite adaptive tracking controller for dynamically positioned surface vessels with only position measurementsen_US
dc.typeArticleen_US

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