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

Abstract

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
Pages304-309
Number of pages6
Volume1
StatePublished - 2002
Event2002 American Control Conference - Anchorage, AK, United States
Duration: May 8 2002May 10 2002

Other

Other2002 American Control Conference
CountryUnited States
CityAnchorage, AK
Period5/8/025/10/02

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Robust global stabilization of underactuated ships on a linear course'. Together they form a unique fingerprint.

  • Cite this

    Do, K. D., Jiang, Z-P., & Pan, J. (2002). Robust global stabilization of underactuated ships on a linear course. In Proceedings of the American Control Conference (Vol. 1, pp. 304-309)