Title :
Tracking control of an underactuated ship
Author :
Lefeber, Erjen ; Pettersen, Kristin Ytterstad ; Nijmeijer, Henk
Author_Institution :
Dept. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands
fDate :
1/1/2003 12:00:00 AM
Abstract :
In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally K- exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.
Keywords :
asymptotic stability; force control; ships; state feedback; tracking; globally K-exponentially stable tracking error dynamics; offshore supply vessel; simple state-feedback control law; surge force; tracking control; underactuated ship; yaw moment; Control systems; Damping; Error correction; Feedback; Force control; Marine vehicles; Nonlinear control systems; Stability; Surges; Vehicle dynamics;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2002.806465
