Abstract This chapter presents state feedback and output feedback controllers that force an underactuated surface ship to follow a predefined path under the presence of environmental disturbances induced by waves, wind, and ocean currents. The control solutions originated an observation that it is reasonable in practice to steer a vessel such that it is on the reference path and its total velocity is tangent to the path, and that the vessel’s forward speed is independently controlled by the main propulsion control system. The proposed controllers are designed using Lyapunov’s direct method, the popular backstepping technique, and the Serret–Frenet frame. The unmeasured sway and yaw velocities are estimated by introducing a novel nonlinear passive observer.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path-following of Underactuated Ships Using Serret–Frenet Coordinates


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


    Publication date :

    2009-01-01


    Size :

    27 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Path-following of Underactuated Ships Using Polar Coordinates

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


    Appendix E: Frenet, Serret and Darboux

    Dixon, John C. | Wiley | 2009


    Egomotion Analysis Based on the Frenet-Serret Motion Model

    Duric, Z. / Rosenfeld, A. / Davis, L. S. | British Library Online Contents | 1995