Robust adaptive path following of underactuated ships

Khae Duc Do, Zhong-Ping Jiang, J. Pan

Research output: Contribution to journalArticle

Abstract

Robust path following is an issue of vital practical importance to the ship industry. In this paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controller is scalable and is designed using Lyapunov's direct method and the popular backstepping and parameter projection techniques. Along the way of proving closed-loop stability, we obtain a new stability result for nonlinear cascade systems with non-vanishing uncertainties. Interestingly, it is shown in this paper that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations using the real data of a monohull ship are provided to illustrate the effectiveness of the proposed methodology for path following of underactuated ships.

Original languageEnglish (US)
Pages (from-to)929-944
Number of pages16
JournalAutomatica
Volume40
Issue number6
DOIs
StatePublished - Jun 2004

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Ships
Ocean currents
Backstepping
Parking
Navigation
Controllers
Computer simulation
Industry

Keywords

  • Adaptation
  • Cascade system
  • Nonlinear control
  • Parking
  • Path following
  • Point-to-point navigation
  • Robustness
  • Underactuated ship

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Robust adaptive path following of underactuated ships. / Do, Khae Duc; Jiang, Zhong-Ping; Pan, J.

In: Automatica, Vol. 40, No. 6, 06.2004, p. 929-944.

Research output: Contribution to journalArticle

Do, Khae Duc ; Jiang, Zhong-Ping ; Pan, J. / Robust adaptive path following of underactuated ships. In: Automatica. 2004 ; Vol. 40, No. 6. pp. 929-944.
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