A self tuning RISE controller formulation

Bıdıklı, Barış; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan

doi:10.1109/acc.2014.6859217

Cited by 18 publications

(23 citation statements)

References 16 publications

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“…It is noted that Braganza et al (2007) did not allow positions and orientations of the tugboats to vary. The self-tuning strategy (Bidikli et al, 2013b(Bidikli et al, , 2014 was employed as an add-on in the numerical simulations to ease the control gain tuning process. …”

Section: Resultsmentioning

confidence: 99%

“…The entries of the control gain matrix C are required to satisfy (67) which depends on the constant upper bounds of uncertain system functions, and the entries of the control gain matrix K are required to be chosen large enough compared to the initial conditions of the system. While this may seem like a weakness of the proposed controller, we will address this issue by utilizing the self-tuning strategy that we recently designed in Bidikli et al (2013bBidikli et al ( , 2014 for the family of the controllers in Xian et al (2004) as an add-on to adjust the entries of C and K. Specifically, the entries of gain matrices C and K are updated according to…”

Section: Stability Analysismentioning

confidence: 99%

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Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

2016

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a b s t r a c tIn 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.

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Section: Resultsmentioning

confidence: 99%

Section: Stability Analysismentioning

confidence: 99%

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

2016

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“…The reference position of the vessel was given as T and the initial velocities v(0) = 0 3 . The control gains K and C were obtained via a self-tuning strategy [19], [20] as…”

Section: Simulation Resultsmentioning

confidence: 99%

“…• A self-tuning strategy [19], [20] was employed as an add-on in the numerical simulations to ease the control gain tuning process. Future work will focus on designing an optimal version of the proposed controller to optimize control efforts.…”

Section: Discussionmentioning

confidence: 99%

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Robust control design for positioning of an unactuated surface vessel

Bıdıklı

Tatlıcıoğlu

Zergeroğlu

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-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. I. INTRODUCTIONThe positioning of large surface vessels like barges, platforms and unactuated ships is considered as the marine example of the swarm robotic applications. Since these types of large vessels can not generate necessary position and orientation control effort due to their low speed operation, they are in need of assistance of multiple tugboats. As a result of this, this objective is realized via a group of tugboats that are strategically positioned along the vessel's hull. Manipulation with multiple tugboats can be seen as a feasible solution for these type of applications. However, the radio communication between all involved tugboats, especially in human manipulated tugboats, affects the control performance dramatically. Although, the communication performance is increased with advanced global positioning systems, control of these type of systems is still a challenging problem because of possible problems that may arise in communication system during manipulation. As a natural result of these, above mentioned marine control problem has attracted attention of the control community.In the last decade, different types of controller designs have been proposed for these type of applications. In [1], orientation tracking control of a unactuated vessel through the utilization of a swarm of vehicles operating in a decentralized fashion was achieved via presented robust control strategy. In order to design this robust controller, the influence of the other swarm vehicle was treated as a force disturbance into the model dynamics. In [2], an exact model knowledge position and orientation tracking controller was proposed for an unactuated surface vessel. In [3], an adaptive position

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A self-tuning robust full-state feedback control design for the magnetic levitation system

Bıdıklı

Bayrak

2018

Control Engineering Practice

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A self tuning RISE controller formulation

Cited by 18 publications

References 16 publications

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

Robust control design for positioning of an unactuated surface vessel

A self-tuning robust full-state feedback control design for the magnetic levitation system

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