Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

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

Browse

Filters

20151

Settings

Scopus Q: search.filters.scopusQuartile.N/ASubject: search.filters.subject.Robustness

Search Results

Now showing 1 - 1 of 1
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 5
    Robust Control Design for Positioning of an Unactuated Surface Vessel
    (Institute of Electrical and Electronics Engineers Inc., 2015) Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    In this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats to specific configurations, the control problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Upon applying a matrix decomposition, a robust controller is proposed. Detailed stability analysis ensured asymptotic tracking. Numerical simulation results demonstrate the efficiency of the proposed controller © 2015 IEEE.