Tracking Control of Docking Maneuvers for a Fully-Actuated Surface Vessel using Backstepping
Résumé
In this paper, trajectory tracking for a fully-actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.
Origine | Fichiers produits par l'(les) auteur(s) |
---|