DocumentCode
2086414
Title
Robust global stabilization of underactuated ships on a linear course
Author
Do, K.D. ; Jiang, Z.-P. ; Pan, J.
Author_Institution
Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia
Volume
1
fYear
2002
fDate
2002
Firstpage
304
Abstract
Develops a state feedback controller that forces underactuated ships to globally ultimately track a straight line under environmental disturbances induced by wave, wind and ocean current. The control development is based on the backstepping technique and some technical lemmas introduced for a nonlinear system with non-vanishing disturbances. Simulation results on a 32 m long ship are presented to validate the proposed controller.
Keywords
asymptotic stability; control system synthesis; position control; robust control; ships; state feedback; backstepping technique; environmental disturbances; linear course; nonlinear system; ocean current; robust global stabilization; state feedback controller; underactuated ships; wave; wind; Backstepping; Control systems; Displacement control; Marine vehicles; Oceans; Robustness; Sea surface; Sliding mode control; Torque control; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2002. Proceedings of the 2002
ISSN
0743-1619
Print_ISBN
0-7803-7298-0
Type
conf
DOI
10.1109/ACC.2002.1024821
Filename
1024821
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