Robust global stabilization of underactuated ships on a linear course

K. D. Do, Zhong-Ping Jiang, J. Pan

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper develops a state feedback controller that forces underactuated ships to globally ultimately track a straight line under environmental disturbances induced by wave, wind and ocean current. The control development is based on the backstepping technique and some technical lemmas introduced for a nonlinear system with non-vanishing disturbances. Simulation results on a 32 meters long ship are presented to validate the proposed controller.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Number of pages6
StatePublished - 2002
Event2002 American Control Conference - Anchorage, AK, United States
Duration: May 8 2002May 10 2002


Other2002 American Control Conference
Country/TerritoryUnited States
CityAnchorage, AK

ASJC Scopus subject areas

  • Control and Systems Engineering


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