Universal controllers for stabilization and tracking of underactuated ships

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

Research output: Contribution to journalArticlepeer-review


We examine the problem of universal control for underactuated surface ships with only surge force and yaw moment. Namely, a single controller is to be designed to achieve stabilization and tracking simultaneously. We propose, in this paper, the first universal controller of which the synthesis is based on Lyapunov's direct method and backstepping technique. Our result is extendible to the input-saturation when the surge and yaw velocities are considered as the controls. Numerical simulations are provided to validate the effectiveness of the proposed controller and to demonstrate its sensitivity with respect to model parameters.

Original languageEnglish (US)
Pages (from-to)299-317
Number of pages19
JournalSystems and Control Letters
Issue number4
StatePublished - Nov 15 2002


  • Global tracking and stabilization
  • Lyapunov function
  • Time-varying nonlinear control
  • Underactuated ship

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Computer Science
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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