Global tracking controller design for underactuated ships

Research output: Contribution to conferencePaper

Abstract

This paper studies the global tracking problem for an underactuated ship with only two propellers. Under sufficient conditions of persistent excitation, two constructive solutions are proposed by application of Lyapunov's direct method. Both solutions exploit the inherent cascade-interconnected structure of the ship dynamics. The first solution yields tracking controllers with good transient performance and acceptable asymptotic convergence. The second solution, as the recent cascade approach of [13], achieves global exponential tracking, but at the expense of transient performance. Simulation results validate the proposed tracking methodology.

Original languageEnglish (US)
Pages978-983
Number of pages6
StatePublished - Dec 1 2001
EventProceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico
Duration: Sep 5 2001Sep 7 2001

Other

OtherProceedings of the 2001 IEEE International Conference on Control Applications CCA '01
CountryMexico
CityMexico City
Period9/5/019/7/01

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Jiang, Z. P. (2001). Global tracking controller design for underactuated ships. 978-983. Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico.