Output Robust Control of a Surface Vessel with Uncertainties, Exogenous Inputs, and Unmodeled Dynamics
| Autor: | Fatimat B. Karashaeva, Sergei Shavetov, Anton A. Pyrkin, Oleg I. Borisov |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Unmanned surface vehicle Observer (quantum physics) Computer science Dynamics (mechanics) Internal model 02 engineering and technology Signal 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Robust control Actuator Parametric statistics |
| Zdroj: | CoDIT |
| Popis: | This paper focuses on the applied research on the output control problem of a surface vessel with parametric, signal, and structural uncertainties. The control framework based on the extended observer design is augmented with the internal model to reject exogenous inputs such as reference derivatives and external disturbances. Special attention in this study is given to the presence of unmodeled dynamics due to the vessel actuators. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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