Robust global output feedback stabilization of underactuated ships on a linear course

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

Research output: Contribution to journalConference article

Abstract

This paper develops an output feedback controller that forces underactuated ships to globally ultimately track a straight line under environmental disturbances induced by wave, wind and ocean current When there are no environmental disturbances, the controller is able to drive the heading angle and cross-tracking error to zero asymptotically. Based on the backstepping technique and some technical lemmas introduced for a nonlinear system with non-vanishing disturbances, an output feedback controller is developed by using a nonlinear observer, which globally exponentially estimates the unmeasured sway and yaw velocities from measured sway displacement and yaw angle. Simulation results on a 32 meters long ship are presented to validate the proposed controller.

Original languageEnglish (US)
Pages (from-to)1687-1692
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2
StatePublished - 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

ASJC Scopus subject areas

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

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