Straight-Line Trajectory Tracking Control for Sampled-Data Underactuated Ships

Author

Katayama, Hiromi ; Aoki, Hidetaka

Author_Institution

Dept. of Electr. & Electron. Eng., Shizuoka Univ., Hamamatsu, Japan

Volume

22

Issue

4

fYear

2014

fDate

Jul-14

Firstpage

1638

Lastpage

1645

Abstract

Straight-line trajectory tracking control of sampled-data underactuated ships with both state and output feedback controllers is considered and analyzed by resorting to a nonlinear sampled-data control theory. State feedback controllers and reduced-order observers are designed on the basis of the Euler approximate models. Then they are combined to obtain output feedback controllers that semiglobally practically uniformly asymptotically stabilize the tracking error dynamics. Both simulation and experimental results are given to show the efficiency of the designed controllers.

Keywords

asymptotic stability; control system synthesis; difference equations; nonlinear control systems; observers; ships; state feedback; trajectory control; Euler approximate models; asymptotic stability; controller design; nonlinear sampled-data control theory; output feedback controller; reduced-order observer; sampled-data underactuated ships; state feedback controller; straight-line trajectory tracking control; Marine vehicles; Observers; Output feedback; Simulation; State feedback; Trajectory; Control of sampled-data underactuated ships; nonlinear sampled-data control; trajectory tracking control; trajectory tracking control.;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2013.2280717

Filename

6605626