Lyapunov design for global tracking of underactuated ships

Research output: Contribution to journalConference articlepeer-review


It is well-known that ship control is a hard problem. In this paper, we consider the global tracking problem for a simplified ship model with only two propellers. By application of Lyapunov's direct method and exploitation of the inherent cascade-interconnected structure of the ship dynamics, two constructive tracking designs are presented. In contrast to the existing cascade approach of [12], our approach produces an explicit Lyapunov function which can be used for robustness analysis and robustification. Unmeasured thruster dynamics is addressed for the first time. Computer simulations demonstrate the efficiency of the proposed tracking method.

Original languageEnglish (US)
Pages (from-to)4210-4215
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2001
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: Dec 4 2001Dec 4 2001

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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