Abstract This chapter presents state feedback and output feedback controllers that force underactuated ships to globally ultimately track a straight line under environmental disturbances induced by waves, wind, and ocean currents. When there are no environmental disturbances, the controllers are able to drive the heading angle and cross-tracking error to zero asymptotically. Based on the backstepping technique and several technical lemmas introduced for a nonlinear system with nonvanishing disturbances, a full state feedback controller is first designed. An output feedback controller is then developed by using a nonlinear observer, which globally exponentially estimates the unmeasured sway and yaw velocities from the measured sway displacement and the measured yaw angle.


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    Title :

    Way-point Tracking Control of Underactuated Ships


    Contributors:
    Do, Khac Duc (author) / Pan, Jie (author)


    Publication date :

    2009-01-01


    Size :

    29 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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