Underactuated ship global tracking under relaxed conditions

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

Research output: Contribution to journalArticle

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)
Pages (from-to)1529-1536
Number of pages8
JournalIEEE Transactions on Automatic Control
Volume47
Issue number9
DOIs
StatePublished - Sep 2002

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Ships
Trajectories
Controllers
Backstepping
Computer simulation

Keywords

  • Global exponential tracking
  • Lyapunov function
  • Nonlinear control
  • Underactuated ship

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Underactuated ship global tracking under relaxed conditions. / Do, K. D.; Jiang, Zhong-Ping; Pan, J.

In: IEEE Transactions on Automatic Control, Vol. 47, No. 9, 09.2002, p. 1529-1536.

Research output: Contribution to journalArticle

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