Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels

Autores
Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Mut, Vicente Antonio; Ortiz, Oscar Alberto; Jordan, Mario Alberto
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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
Materia
Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/28318
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vesselsSerrano, Mario EmanuelScaglia, Gustavo Juan EduardoMut, Vicente AntonioOrtiz, Oscar AlbertoJordan, Mario AlbertoControl System DesignLinear AlgebraNonlinear ModelTracking Trajectory Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2The 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; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Mut, Vicente Antonio. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Ortiz, Oscar Alberto. Universidad Nacional de San Juan; ArgentinaFil: 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; ArgentinaRomanian Society of Control Engineering and Technical Informatics2013-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/28318Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Mut, Vicente Antonio; Ortiz, Oscar Alberto; Jordan, Mario Alberto; Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels; Romanian Society of Control Engineering and Technical Informatics; Control Engineering And Applied Informatics; 15; 4; 12-2013; 15-251454-8658CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://www.ceai.srait.ro/index.php?journal=ceai&page=article&op=view&path%5B%5D=1555info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:22:55Zoai:ri.conicet.gov.ar:11336/28318instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-10 13:22:55.497CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
title Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
spellingShingle Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
Serrano, Mario Emanuel
Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
title_short Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
title_full Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
title_fullStr Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
title_full_unstemmed Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
title_sort Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
dc.creator.none.fl_str_mv Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
Mut, Vicente Antonio
Ortiz, Oscar Alberto
Jordan, Mario Alberto
author Serrano, Mario Emanuel
author_facet Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
Mut, Vicente Antonio
Ortiz, Oscar Alberto
Jordan, Mario Alberto
author_role author
author2 Scaglia, Gustavo Juan Eduardo
Mut, Vicente Antonio
Ortiz, Oscar Alberto
Jordan, Mario Alberto
author2_role author
author
author
author
dc.subject.none.fl_str_mv Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
topic Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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
description 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.
publishDate 2013
dc.date.none.fl_str_mv 2013-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/28318
Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Mut, Vicente Antonio; Ortiz, Oscar Alberto; Jordan, Mario Alberto; Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels; Romanian Society of Control Engineering and Technical Informatics; Control Engineering And Applied Informatics; 15; 4; 12-2013; 15-25
1454-8658
CONICET Digital
CONICET
url http://hdl.handle.net/11336/28318
identifier_str_mv Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Mut, Vicente Antonio; Ortiz, Oscar Alberto; Jordan, Mario Alberto; Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels; Romanian Society of Control Engineering and Technical Informatics; Control Engineering And Applied Informatics; 15; 4; 12-2013; 15-25
1454-8658
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.ceai.srait.ro/index.php?journal=ceai&page=article&op=view&path%5B%5D=1555
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Romanian Society of Control Engineering and Technical Informatics
publisher.none.fl_str_mv Romanian Society of Control Engineering and Technical Informatics
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.48226

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