@inproceedings{9cf8683f36794aa4b8c2bc0403b94547,
title = "Adaptive Output Feedback Tracking Controller for Underactuated Surface vessel with Unmeasurable Orientation",
abstract = "The work addresses the trajectory tracking control problem of surface vessel without yaw angle measurement. A new adaptive output feedback controller is proposed ensuring that position error converges to zero asymptotically. The new proposed control law can guarantee the independence of position tracking error on convergence of yaw angle estimation error with bounded sway velocity and system inputes. The design of proposed controller is based on unknown yaw angle, while previous controller design was based on unknown speed. Simulations are presented to verify the effectiveness of the proposed controller.",
keywords = "Output Feedback Control, Trajectory Tracking, Underactuated Surface Vessel, Unmeasured Yaw Angle",
author = "Mingxuan Zheng and Baoli Ma",
note = "Publisher Copyright: {\textcopyright} 2020 Technical Committee on Control Theory, Chinese Association of Automation.; 39th Chinese Control Conference, CCC 2020 ; Conference date: 27-07-2020 Through 29-07-2020",
year = "2020",
month = jul,
doi = "10.23919/CCC50068.2020.9188742",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "718--723",
editor = "Jun Fu and Jian Sun",
booktitle = "Proceedings of the 39th Chinese Control Conference, CCC 2020",
address = "美国",
}