Global exponential tracking control of underactuated surface ships in the body frame

K. D. Do, J. Pan, Zhong-Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The reference trajectory is allowed to be a curve including a straight line. The control development is based on Lyapunov's direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Numerical simulations are provided to validate the effectiveness of the proposed controller.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages4702-4707
Number of pages6
Volume6
DOIs
StatePublished - 2002
Event2002 American Control Conference - Anchorage, AK, United States
Duration: May 8 2002May 10 2002

Other

Other2002 American Control Conference
CountryUnited States
CityAnchorage, AK
Period5/8/025/10/02

Fingerprint

Ships
Trajectories
Controllers
Backstepping
Computer simulation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Do, K. D., Pan, J., & Jiang, Z-P. (2002). Global exponential tracking control of underactuated surface ships in the body frame. In Proceedings of the American Control Conference (Vol. 6, pp. 4702-4707) https://doi.org/10.1109/ACC.2002.1025400

Global exponential tracking control of underactuated surface ships in the body frame. / Do, K. D.; Pan, J.; Jiang, Zhong-Ping.

Proceedings of the American Control Conference. Vol. 6 2002. p. 4702-4707.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Do, KD, Pan, J & Jiang, Z-P 2002, Global exponential tracking control of underactuated surface ships in the body frame. in Proceedings of the American Control Conference. vol. 6, pp. 4702-4707, 2002 American Control Conference, Anchorage, AK, United States, 5/8/02. https://doi.org/10.1109/ACC.2002.1025400
Do KD, Pan J, Jiang Z-P. Global exponential tracking control of underactuated surface ships in the body frame. In Proceedings of the American Control Conference. Vol. 6. 2002. p. 4702-4707 https://doi.org/10.1109/ACC.2002.1025400
Do, K. D. ; Pan, J. ; Jiang, Zhong-Ping. / Global exponential tracking control of underactuated surface ships in the body frame. Proceedings of the American Control Conference. Vol. 6 2002. pp. 4702-4707
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