Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/11

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Institution Author: search.filters.institutionAuthor.Bıdıklı, BarışSubject: search.filters.subject.Surface vessels

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  • Article
    Citation - WoS: 10
    Citation - Scopus: 10
    Observer-Based Adaptive Output Feedback Tracking Control of Dynamically Positioned Surface Vessels
    (Springer Verlag, 2017) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a nonlinear, model-free observer formulation have been proposed. The proposed observer does not make use of the system dynamics and together with the proposed controller structure ensure that the tracking error signal and the velocity estimation error asymptotically converges to zero. Stability of the closed-loop system is ensured by Lyapunov-based arguments. Simulation studies are also presented to illustrate the effectiveness of the proposed method.
  • Article
    Citation - WoS: 30
    Citation - Scopus: 35
    Robust Dynamic Positioning of Surface Vessels Via Multiple Unidirectional Tugboats
    (Elsevier Ltd., 2016) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple uni-directional 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.