Underactuated ship global tracking under relaxed conditions

K. D. Do; Z. P. Jiang; J. Pan

doi:10.1109/TAC.2002.802755

Underactuated ship global tracking under relaxed conditions

K. D. Do, Z. P. Jiang, J. Pan

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The reference trajectory is allowed to be a curve including a straight line. The control development is based on Lyapunov's direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Numerical simulations are provided to validate the effectiveness of the proposed controller.

Original language	English (US)
Pages (from-to)	1529-1536
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	47
Issue number	9
DOIs	https://doi.org/10.1109/TAC.2002.802755
State	Published - Sep 2002

Keywords

Global exponential tracking
Lyapunov function
Nonlinear control
Underactuated ship

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/TAC.2002.802755

Cite this

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abstract = "A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The reference trajectory is allowed to be a curve including a straight line. The control development is based on Lyapunov's direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Numerical simulations are provided to validate the effectiveness of the proposed controller.",

keywords = "Global exponential tracking, Lyapunov function, Nonlinear control, Underactuated ship",

author = "Do, {K. D.} and Jiang, {Z. P.} and J. Pan",

note = "Funding Information: Manuscript received November 13, 2001; revised January 16, 2002 and April 8, 2002. Recommended by Associate Editor A. Garulli. The work of K. D. Do was supported by IPRS and UPA from the University of Western Australia and in part by the National Science Foundation under Grants ECS-0093176 and INT-9987317.The work of Z. P. Jiang was supported in part by the National Science Foundation under Grant ECS-0093176 and Grant INT-9987317.",

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Underactuated ship global tracking under relaxed conditions

Abstract

Keywords

ASJC Scopus subject areas

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