Global tracking control of underactuated surface ships in body frame

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. 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 validate the proposed controller.

Original languageEnglish (US)
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherIFAC Secretariat
Pages367-372
Number of pages6
Volume15
Edition1
StatePublished - 2002
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: Jul 21 2002Jul 26 2002

Other

Other15th World Congress of the International Federation of Automatic Control, 2002
CountrySpain
CityBarcelona
Period7/21/027/26/02

Keywords

  • Lyapunov function
  • Nonlinear control
  • Tracking
  • Underactuated ship

ASJC Scopus subject areas

  • Control and Systems Engineering

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