New cascade approach for global κ-exponential tracking of underactuated ships

Ti Chung Lee, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


This note investigates the fast tracking control problem of underactuated ships via persistent excitation (PE) conditions. By combining a novel transformation with the computed torque method, a decoupling controller related to the surge force is given first to decompose the error model into two cascade subsystems. Then, a stabilizing controller involving the yaw moment is designed. With the help of the proposed cascaded structure, a weaker PE condition than those given in past literature can be used to verify an integral detectability and guarantee global κ-exponential convergence by employing several newly developed stability criteria. A new feature of the obtained results is that only one of these reference signals is needed to satisfy the usual PE condition. Simulation results are provided to validate the effectiveness of the proposed scheme.

Original languageEnglish (US)
Pages (from-to)2297-2303
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number12
StatePublished - Dec 2004


  • Cascaded systems
  • Global κ-exponential stability
  • Persistent excitation (PE) condition
  • Underactuated ships

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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