Robust global stabilization of underactuated ships on a linear course

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

Robust global stabilization of underactuated ships on a linear course

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings of the American Control Conference
Pages	304-309
Number of pages	6
Volume	1
State	Published - 2002
Event	2002 American Control Conference - Anchorage, AK, United States Duration: May 8 2002 → May 10 2002

Other

Other	2002 American Control Conference
Country/Territory	United States
City	Anchorage, AK
Period	5/8/02 → 5/10/02

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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title = "Robust global stabilization of underactuated ships on a linear course",

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.",

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year = "2002",

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AU - Do, K. D.

AU - Jiang, Zhong-Ping

AU - Pan, J.

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:0036057703

VL - 1

SP - 304

EP - 309

BT - Proceedings of the American Control Conference

T2 - 2002 American Control Conference

Y2 - 8 May 2002 through 10 May 2002

ER -

Robust global stabilization of underactuated ships on a linear course

Abstract

Other

ASJC Scopus subject areas

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