Refine
Year of publication
- 2022 (26) (remove)
Document Type
- Conference Proceeding (17)
- Article (8)
- Doctoral Thesis (1)
Language
- English (26)
Keywords
- 360-degree coverage (1)
- 3D Extended Object Tracking (EOT) (2)
- Adaptive birth density (1)
- Backstepping control (1)
- Bounded uncertainty (2)
- Channel capacity (1)
- Channel coding (1)
- Channel fading (1)
- Code-based cryptography (1)
- Collision avoidance (1)
- Computational complexity (1)
- Concatenated codes (2)
- Control and Real-Time Applications (1)
- Decoding (1)
- Digital and Analog Signal Processing, Automation (1)
- Distributed Parameter Systems (1)
- Ellipsoidal enclosures (1)
- Ellipsoidal state estimation (1)
- Elliptic Cone (1)
- Error correction codes (1)
- Error correction coding (1)
- Extended object tracking (1)
- Extension estimation (2)
- Fluidics and Thermodynamics (1)
- Fully-actuated autonomous surface vessels (1)
- Furniture production (1)
- Generalized concatenated codes (1)
- Harmonic Functions (1)
- Heat conduction (1)
- LiDAR (1)
- Lidar (2)
- Maritime systems (2)
- Maximum-likelihood detection (1)
- McEliece cryptosystem (1)
- Multi-extended object tracking (1)
- Multi-object tracking (1)
- Non-volatile memory (1)
- Nonlinear control systems (1)
- Nonlinear model predictive control (1)
- Nonlinear system identification (1)
- Nonlinear systems (1)
- Occlusion (1)
- PDE Systems (1)
- Polar codes (1)
- Predictive control (2)
- Public-key cryptography (1)
- Random matrices (2)
- Real-time (1)
- Reed-Muller (RM) codes (1)
- Reference model (1)
- Restricted error values (1)
- Sailing Boat (1)
- Sample-based nonlinear model predictive control (1)
- Sets of trajectories (1)
- Shape Estimation and Tracking (1)
- Ships and offshore vessels (1)
- Signal constellations (1)
- Spatial modulation (1)
- State and disturbance estimation (1)
- State and parameter estimation (1)
- Statistical data analysis (1)
- Stochastic system dynamics (1)
- Stochastic uncertainty (1)
- Trajectory tracking (1)
- Transportation (1)
- Uncertainty modeling (1)
- Unmanned surface vehicles (1)
- Unscented Kalman Filter (1)
- Virtual measurement model (1)
Institute
- Institut für Systemdynamik - ISD (26) (remove)
The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper by designing a backstepping controller with a multivariable integral action, considering the thruster allocation problem. The performance and robustness of this controller are evaluated in simulation, taking into account environmental disturbance forces and modeling mismatch, using a docking maneuver as a reference trajectory. Furthermore, a comparison between the backstepping controller and a nonlinear position PID-Control with flatness based-feedforward is also analyzed.