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dc.contributor.authorDo, Khac Duc
dc.date.accessioned2017-01-30T11:33:54Z
dc.date.available2017-01-30T11:33:54Z
dc.date.created2015-10-29T04:09:27Z
dc.date.issued2015
dc.identifier.citationDo, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/12952
dc.identifier.doi10.1007/s11804-015-1288-8
dc.description.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.

dc.publisherHarbin Engineering University
dc.titleGlobal inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs)
dc.typeJournal Article
dcterms.source.issn1671-9433
dcterms.source.titleJournal of Marine Science and Application
curtin.departmentDepartment of Mechanical Engineering
curtin.accessStatusFulltext not available


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