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

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

Research output: Chapter in Book/Report/Conference proceedingChapter

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 languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages4702-4707
Number of pages6
Volume6
DOIs
StatePublished - 2002

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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