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    Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs)

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    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2015
    Type
    Journal Article
    
    Metadata
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    Citation
    Do, K.D. 2015. Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs). Journal of Marine Science and Application. 14 (1): pp. 1-13.
    Source Title
    Journal of Marine Science and Application
    DOI
    10.1007/s11804-015-1288-8
    ISSN
    1671-9433
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/12952
    Collection
    • Curtin Research Publications
    Abstract

    This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov’s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results.

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