Underactuated ship global tracking under relaxed conditions

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

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)1529-1536
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number9
StatePublished - Sep 2002


  • Global exponential tracking
  • Lyapunov function
  • Nonlinear control
  • Underactuated ship

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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