A trajectory tracking control method for underactuated surface ships

Author

Yang Liu ; Chen Guo

Author_Institution

Coll. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China

fYear

2012

fDate

23-25 May 2012

Firstpage

1407

Lastpage

1410

Abstract

We proposed a nonlinear control method for trajectory tracking of underactuated surface ship. The nonlinear hydrodynamic damp and sway velocity are included in the ship model, which can stand for high speed and low speed of the ship. In kinematics loop the reference yaw angle and the reference speed are given. The nonlinear controller is designed in dynamics loop to make the error variables asymptotically stable. The stability of the closed-loop system is analyzed by using Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control method.

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; control system synthesis; damping; hydrodynamics; nonlinear control systems; ships; tracking; trajectory control; Lyapunov theory; asymptotic stability; closed loop system; dynamic loop; error variables; kinematic loop; nonlinear control method; nonlinear controller design; nonlinear hydrodynamic damp; reference speed; reference yaw angle; sway velocity; trajectory tracking control method; underactuated surface ship model; Asymptotic stability; Force; Hydrodynamics; Marine vehicles; Mathematical model; Sea surface; Stability analysis; Cascade System; Nonlinear Control; Trajectory Tracking; Underactuated Ship;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2012 24th Chinese

Conference_Location

Taiyuan

Print_ISBN

978-1-4577-2073-4

Type

conf

DOI

10.1109/CCDC.2012.6244226

Filename

6244226