Robust global 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 a state feedback controller that forces underactuated ships to globally ultimately track a straight line under environmental disturbances induced by wave, wind and ocean current. The control development is based on the backstepping technique and some technical lemmas introduced for a nonlinear system with non-vanishing disturbances. Simulation results on a 32 meters long ship are presented to validate the proposed controller.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages304-309
Number of pages6
Volume1
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
Stabilization
Ocean currents
Controllers
Backstepping
State feedback
Nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Do, K. D., Jiang, Z-P., & Pan, J. (2002). Robust global stabilization of underactuated ships on a linear course. In Proceedings of the American Control Conference (Vol. 1, pp. 304-309)

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

Proceedings of the American Control Conference. Vol. 1 2002. p. 304-309.

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

Do, KD, Jiang, Z-P & Pan, J 2002, Robust global stabilization of underactuated ships on a linear course. in Proceedings of the American Control Conference. vol. 1, pp. 304-309, 2002 American Control Conference, Anchorage, AK, United States, 5/8/02.
Do KD, Jiang Z-P, Pan J. Robust global stabilization of underactuated ships on a linear course. In Proceedings of the American Control Conference. Vol. 1. 2002. p. 304-309
Do, K. D. ; Jiang, Zhong-Ping ; Pan, J. / Robust global stabilization of underactuated ships on a linear course. Proceedings of the American Control Conference. Vol. 1 2002. pp. 304-309
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