Abstract
Robust path following is an issue of vital practical importance to the ship industry. In this paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controller is scalable and is designed using Lyapunov's Direct Method and the popular backstepping and parameter projection techniques. Along the way of proving closed-loop stability, we obtain a new stability result for nonlinear cascade systems with non-vanishing uncertainties. Interestingly, it is shown in this paper that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation.
Original language | English (US) |
---|---|
Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
Pages | 3243-3248 |
Number of pages | 6 |
Volume | 3 |
State | Published - 2002 |
Event | 41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: Dec 10 2002 → Dec 13 2002 |
Other
Other | 41st IEEE Conference on Decision and Control |
---|---|
Country/Territory | United States |
City | Las Vegas, NV |
Period | 12/10/02 → 12/13/02 |
ASJC Scopus subject areas
- Chemical Health and Safety
- Control and Systems Engineering
- Safety, Risk, Reliability and Quality