This paper considers the path following problem of underactuated marine vessels whose control imposes a challenging problem due to its under-actuated nature. The recently developed Dynamic Surface Control (DSC) design method is applied to overcome the problem of explosion of terms associated with the backstepping design procedure. It is shown that the exponential stability of the resulting closed loop dynamics can be proved using Lyapunov direct method. The feasibility of the proposed Dynamic Surface Controller is evaluated analytically and verified through computer simulations and experiments.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path following control of underactuated marine vessels via dynamic surface control technique


    Beteiligte:
    Oh, So-Ryeok (Autor:in) / Sun, Jing (Autor:in) / Li, Zhen (Autor:in)


    Erscheinungsdatum :

    2009


    Format / Umfang :

    8 Seiten, 7 Bilder, 1 Tabelle, 13 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    RBFNN-Based Path Following Adaptive Control for Underactuated Surface Vessels

    Meng, Wei / Guo, Chen | British Library Conference Proceedings | 2015



    LVS guidance based output-feedback path-following control for underactuated surface vessels

    Chen, Zheng / Min, Boxu / Xie, Hongbin et al. | British Library Conference Proceedings | 2021


    Straight line path following for formations of underactuated surface vessels

    Pavlov, Alexey / Borhaug, Even / Panteley, Elena et al. | Tema Archiv | 2009