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 language | English (US) |
|---|---|
| Title of host publication | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Publisher | IFAC Secretariat |
| Pages | 367-372 |
| Number of pages | 6 |
| Volume | 15 |
| Edition | 1 |
| State | Published - 2002 |
| Event | 15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain Duration: Jul 21 2002 → Jul 26 2002 |
Other
| Other | 15th World Congress of the International Federation of Automatic Control, 2002 |
|---|---|
| Country/Territory | Spain |
| City | Barcelona |
| Period | 7/21/02 → 7/26/02 |
Keywords
- Lyapunov function
- Nonlinear control
- Tracking
- Underactuated ship
ASJC Scopus subject areas
- Control and Systems Engineering