DocumentCode
1128712
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
Volume
11
Issue
1
fYear
2003
fDate
1/1/2003 12:00:00 AM
Firstpage
52
Lastpage
61
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;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2002.806465
Filename
1173010
Link To Document