The problem of tracking trajectory in ships characterised by a non-linear model has been investigated. The procedure, using backstepping theory, led to the obtaining of two controllers capable of performing the three fundamental manoeuvrings in ships. These are: the curvature motion; the circular motion; and the straight line motion – which consists of a circle having an infinitely-large radius. The non-linear controllers obtained for the whole movement only depend on the adequate choice of five parameters.


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    Title :

    Surface ship trajectory control using non-linear backstepping design


    Contributors:
    Casado, M H (author) / Velasco, F J (author)


    Publication date :

    2003-01-01


    Size :

    6 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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