Title :
Tracking control of underactuated ship based on partial state feedback scheme
Author :
Zhang Guoqing ; Yu Lijun ; Meng Xiangzhen ; Zhang Lijun
Author_Institution :
Qingdao Navy Submarine Acad., Qingdao, China
Abstract :
For underactuated ship without side-propeller equipment, a new global partial state feedback control scheme is proposed which is applied to the curve tracking problem including straight line case. The proposed controller does not need forward speed and by-pass speed as the state feedback variable. By global nonlinear state transformation, the ship dynamic model is converted into affine form, as a result, an exponential convergent speed of state observer is constructed to estimate the unmeasurable velocity item. The design of controller is dependent on the Lyapunov direct method and backstepping technique, and passivity of ship dynamic systems and connection structure as well. Simulation shows the proposed control law is effective.
Keywords :
Lyapunov methods; nonlinear control systems; observers; ships; state feedback; Lyapunov direct method; backstepping technique; curve tracking problem; nonlinear state transformation; partial state feedback scheme; ship dynamic model; tracking control; underactuated ship; Gold; Navigation; Propulsion; Variable speed drives; nonlinear control; nonlinear observer; partial state feedback; underactuated ship;
Conference_Titel :
Complex Medical Engineering (CME), 2011 IEEE/ICME International Conference on
Conference_Location :
Harbin Heilongjiang
Print_ISBN :
978-1-4244-9323-4
DOI :
10.1109/ICCME.2011.5876826