The main difficulty in the control of an underactuated system is that the system has more outputs to be controlled than the number of independent inputs. In this paper a novel trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. A simple approach is proposed to track trajectories, knowing the desired state, a value for the control action needed to force the system to go from its current state to a desired one can be obtained. Its main advantage is that the condition for the tracking error tends to zero and the calculation of control actions, are obtained solving a system of linear equations. In addition, the convergence to zero of tracking errors and simulation results are included in this article. ; Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina ; Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina ; Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina ; Fil: Ortiz, Oscar Alberto. Universidad Nacional de San Juan; Argentina ; Fil: Jordan, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina
Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
CONICET
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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