Nonlinear tracking of underactuated surface vessels

Author

Godhavn, John-Morten

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

Volume

1

fYear

1996

fDate

11-13 Dec 1996

Firstpage

975

Abstract

A control law for tracking of underactuated surface vessels is presented. Optimal trajectories for surface vessels are given as combinations of arcs of circles and line segments. It is shown how optimal trajectories can be made smooth by a technique called splines, and how these trajectories can be stabilized by backstepping. The control law depends on the forward velocity of the surface vessel always being positive, which is not a major limitation for tracking purposes. It is also shown how this work can be part of a hierarchical hybrid system for control of surface vessels

Keywords

hierarchical systems; kinematics; marine systems; motion control; nonlinear control systems; optimal control; position control; splines (mathematics); state feedback; tracking; traffic control; backstepping; circles; forward velocity; hierarchical hybrid system; line segments; nonlinear tracking; optimal trajectories; splines; underactuated surface vessels; Backstepping; Control systems; Cybernetics; Sea surface; Space vehicles; State feedback; Time varying systems; Trajectory; Vehicle dynamics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.574608

Filename

574608