DocumentCode
2267296
Title
Robust path following of underactuated ships using Serret-Frenet frame
Author
Do, K.D. ; Pan, J.
Author_Institution
Sch. of Mech. Eng., Western Australia Univ., Nedlands, WA, Australia
Volume
3
fYear
2003
fDate
4-6 June 2003
Firstpage
2000
Abstract
This paper develops a controller that forces an underactuated surface ship to follow a predefined path at a constant forward speed controlled by the main thruster system under the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controllers are designed using Lyapunov´s Direct Method. A new stability result for nonlinear cascade systems with non-vanishing uncertainties is introduced to analyze closed-loop stability.
Keywords
Lyapunov methods; cascade systems; closed loop systems; controllers; nonlinear control systems; position control; robust control; ships; stability; uncertain systems; Lyapunov direct method; Serret-Frenet frame; closed loop stability; controller; environmental disturbances; nonlinear cascade systems; nonvanishing uncertainties; ocean current; robust path; underactuated surface ships; Control systems; Force control; Kinematics; Linear feedback control systems; Marine vehicles; Robustness; Sea surface; Stability analysis; Trajectory; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1243368
Filename
1243368
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