Nonlinear Trajectory Tracking Control for Marine Vessels with Additive Uncertainties

Mario Emanuel Serrano, Sebastian Alejandro Godoy, Daniel Gandolfo, Vicente Mut, Gustavo Scaglia


In this paper trajectory tracking problem in marine vessels under model errors isaddressed. In the wake of the results obtained in Serrano et al. (2013), the problem of modelerrors is focused and the zero convergence of tracking errors under polynomial uncertainties isdemonstrated. A simple design method is given, which can be easily implemented. Simulationresults are presented and discussed, showing the good performance of the controller.



Trajectory tracking; nonlinear control; marine vessels; uncertain polynomials.

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Print ISSN: 1392-124X 
Online ISSN: 2335-884X