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 language | English (US) |
|---|---|
| Pages (from-to) | 1687-1692 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 2 |
| State | Published - 2002 |
| Event | 41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: Dec 10 2002 → Dec 13 2002 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization