Abstract This chapter deals with the problem of designing controllers to force an underactuated surface ship with standard dynamics to track a reference path. Both full-state feedback and output feedback cases are considered. In comparison with the preceding three chapters, the requirement that the reference trajectories be generated by virtual ships is relaxed, and the control design is simpler and more amenable for implementation in practice. The control development is based on a series of coordinate transformations, the backstepping technique, and utilizing the dynamic structure of the ship.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path-tracking Control of Underactuated Ships


    Beteiligte:
    Do, Khac Duc (Autor:in) / Pan, Jie (Autor:in)


    Erscheinungsdatum :

    01.01.2009


    Format / Umfang :

    47 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Trajectory tracking control for underactuated ships

    Feng Yi-wei / Feng Ping | IEEE | 2014


    Trajectory-tracking Control of Underactuated Ships

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009


    Way-point Tracking Control of Underactuated Ships

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009



    On path following of underactuated surface ships

    Li, Ronghui / Qi, Yunpeng / Li, Tieshan et al. | IEEE | 2014