Robust global output feedback stabilization of underactuated ships on a linear course

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

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

Abstract

This paper develops an output feedback controller that forces underactuated ships to globally ultimately track a straight line under environmental disturbances induced by wave, wind and ocean current When there are no environmental disturbances, the controller is able to drive the heading angle and cross-tracking error to zero asymptotically. Based on the backstepping technique and some technical lemmas introduced for a nonlinear system with non-vanishing disturbances, an output feedback controller is developed by using a nonlinear observer, which globally exponentially estimates the unmeasured sway and yaw velocities from measured sway displacement and yaw angle. Simulation results on a 32 meters long ship are presented to validate the proposed controller.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages1687-1692
Number of pages6
Volume2
StatePublished - 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

Other

Other41st IEEE Conference on Decision and Control
CountryUnited States
CityLas Vegas, NV
Period12/10/0212/13/02

Fingerprint

Ships
Stabilization
Feedback
Controllers
Ocean currents
Backstepping
Nonlinear systems

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Do, K. D., Jiang, Z-P., & Pan, J. (2002). Robust global output feedback stabilization of underactuated ships on a linear course. In Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 1687-1692)

Robust global output feedback stabilization of underactuated ships on a linear course. / Do, K. D.; Jiang, Zhong-Ping; Pan, J.

Proceedings of the IEEE Conference on Decision and Control. Vol. 2 2002. p. 1687-1692.

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

Do, KD, Jiang, Z-P & Pan, J 2002, Robust global output feedback stabilization of underactuated ships on a linear course. in Proceedings of the IEEE Conference on Decision and Control. vol. 2, pp. 1687-1692, 41st IEEE Conference on Decision and Control, Las Vegas, NV, United States, 12/10/02.
Do KD, Jiang Z-P, Pan J. Robust global output feedback stabilization of underactuated ships on a linear course. In Proceedings of the IEEE Conference on Decision and Control. Vol. 2. 2002. p. 1687-1692
Do, K. D. ; Jiang, Zhong-Ping ; Pan, J. / Robust global output feedback stabilization of underactuated ships on a linear course. Proceedings of the IEEE Conference on Decision and Control. Vol. 2 2002. pp. 1687-1692
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