Abstract This chapter addresses the problem of trajectory-tracking control of underactuated surface ships. In particular, we present a method to design a controller 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. The reference yaw velocity does not have to satisfy a persistently exciting condition as was often required in previous literature. Hence, the reference trajectory is allowed to be a curve including a straight line and a circle. In addition, a new solution to global K-exponential tracking as given in previous work is obtained. The control development is based on Lyapunov’s direct method and the backstepping technique, and utilizes passive properties of ship dynamics and their interconnected structure.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Trajectory-tracking Control of Underactuated Ships


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


    Erscheinungsdatum :

    2009-01-01


    Format / Umfang :

    19 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    Path-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