TY - JOUR
T1 - Robust global stabilization of underactuated ships on a linear course
T2 - State and output feedback
AU - Do, K. D.
AU - Jiang, Z. P.
AU - Pan, J.
N1 - Funding Information:
The work of the first and second authors has been supported in part by the National Science Foundation under Grants ECS-0093176 and INT-9987317.
Funding Information:
The authors would like to thank the reviewers and the Associate Editor for their constructive comments. The study of the first author is supported by IPRS and UPA from the University of Western Australia.
PY - 2003/1/10
Y1 - 2003/1/10
N2 - This paper develops state and output feedback controllers that force 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 controllers are 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 non-linear system with non-vanishing disturbances, full state feedback controller is first designed. An output feedback controller is then developed by using a non-linear observer, which globally exponentially estimates the unmeasured sway and yaw velocities from measured sway displacement and yaw angle. Simulation results on a 32 metres long ship are presented to validate the proposed controller.
AB - This paper develops state and output feedback controllers that force 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 controllers are 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 non-linear system with non-vanishing disturbances, full state feedback controller is first designed. An output feedback controller is then developed by using a non-linear observer, which globally exponentially estimates the unmeasured sway and yaw velocities from measured sway displacement and yaw angle. Simulation results on a 32 metres long ship are presented to validate the proposed controller.
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U2 - 10.1080/0020717021000048233
DO - 10.1080/0020717021000048233
M3 - Article
AN - SCOPUS:0142049296
SN - 0020-7179
VL - 76
SP - 1
EP - 17
JO - International Journal of Control
JF - International Journal of Control
IS - 1
ER -