Output Robust Control of a Surface Vessel with Uncertainties, Exogenous Inputs, and Unmodeled Dynamics*

Abstract

This paper focuses on the applied research on the output control problem of a surface vessel with parametric, signal, and structural uncertainties. The control framework based on the extended observer design is augmented with the internal model to reject exogenous inputs such as reference derivatives and external disturbances. Special attention in this study is given to the presence of unmodeled dynamics due to the vessel actuators.