Underactuated ship global tracking under relaxed conditions

Author

Do, K.D. ; Jiang, Z.-P. ; Pan, J.

Author_Institution

Dept. of Electr. & Comput. Eng., Polytech. Univ. Brooklyn, NY, USA

Volume

47

Issue

9

fYear

2002

fDate

9/1/2002 12:00:00 AM

Firstpage

1529

Lastpage

1536

Abstract

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The reference trajectory is allowed too be a curve including a straight line. The control development is based on Lyapunov´s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Numerical simulations are provided to validate the effectiveness of the proposed controller.

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; ships; Lyapunov function; Lyapunov method; backstepping; control development; controller; global asymptotic tracking; reference trajectory; surge force; underactuated surface ships; virtual ship; yaw moment; Backstepping; Control systems; Force control; Lyapunov method; Marine vehicles; Numerical simulation; Stability analysis; Surges; Trajectory; Velocity control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2002.802755

Filename

1032313