Robust output tracking control of a surface vessel

2008 American Control Conference, ACC; Seattle, WA; United States; 11 June 2008 through 13 June 2008In this paper, tracking control of a three degree-of-freedom marine vessel is examined. The primary motivation for this work is the compensation needed for the added mass common to surface vessels, resulting in an asymmetric inertia matrix. Two control schemes are considered: a full-state feedback controller and an output feedback controller. Numerical simulation results are shown to demonstrate the validity of these proposed controllers