Title :
Robust global stabilization of underactuated ships on a linear course
Author :
Do, K.D. ; Jiang, Z.-P. ; Pan, J.
Author_Institution :
Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia
Abstract :
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 m long ship are presented to validate the proposed controller.
Keywords :
asymptotic stability; control system synthesis; position control; robust control; ships; state feedback; backstepping technique; environmental disturbances; linear course; nonlinear system; ocean current; robust global stabilization; state feedback controller; underactuated ships; wave; wind; Backstepping; Control systems; Displacement control; Marine vehicles; Oceans; Robustness; Sea surface; Sliding mode control; Torque control; Velocity control;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024821
