Adaptive Output Tracking Control of a Surface Vessel

Lee D., Tatlicioglu E. , Burg T. C. , Dawson D. M.

47th IEEE Conference on Decision and Control, Cancun, Mexico, 9 - 11 December 2008, pp.1352-1357 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/cdc.2008.4739313
  • City: Cancun
  • Country: Mexico
  • Page Numbers: pp.1352-1357


In this paper, the tracking control of a three degree-of-freedom marine vessel is examined. The novelty of this work is the transformation of the asymmetric inertia matrix into a symmetric, positive definite matrix. The asymmetry arises from the added mass common to practical surface vessels and creates a significant challenge for control design. The control design is further complicated by the parametric uncertainties in the dynamic model of the vessel. Two adaptive control schemes with a projection-based adaptation law are proposed: a full-state feedback controller and an output feedback controller. Both controllers are known to yield a uniformly ultimately bounded tracking result in the presence of parametric uncertainty. Numerical simulation results are shown to demonstrate the validity of the proposed controllers.