Global exponential tracking control of underactuated surface ships in the body frame

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

doi:10.1109/ACC.2002.1025400

Global exponential tracking control of underactuated surface ships in the body frame

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

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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 to 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.

Original language	English (US)
Title of host publication	Proceedings of the American Control Conference
Pages	4702-4707
Number of pages	6
Volume	6
DOIs	https://doi.org/10.1109/ACC.2002.1025400
State	Published - 2002

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/ACC.2002.1025400

Cite this

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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 to 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.",

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AB - 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 to 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.

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Global exponential tracking control of underactuated surface ships in the body frame

Abstract

ASJC Scopus subject areas

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