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.
Surface ship trajectory control using non-linear backstepping design
Journal of Marine Engineering & Technology ; 2 , 2 ; 3-8
2003-01-01
6 pages
Article (Journal)
Electronic Resource
English
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