Published January 1, 2016
| Version v1
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Robust dynamic positioning of surface vessels via multiple unidirectional tugboats
- 1. Izmir Inst Technol, Dept Elect & Elect Engn, TR-35430 Izmir, Turkey
- 2. Gebze Tech Univ, Dept Comp Engn, TR-41400 Gebze, Kocaeli, Turkey
Description
In this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller. (C) 2016 Elsevier Ltd. All rights reserved.
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