Title :
Global exponential tracking control of underactuated surface ships in the body frame
Author :
Do, K.D. ; Pan, J. ; Jiang, Z.-P.
Author_Institution :
Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia
Abstract :
A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The reference trajectory is allowed to be a curve including a straight line. The control development is based on Lyapunov´s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Numerical simulations are provided to validate the effectiveness of the proposed controller.
Keywords :
Lyapunov methods; interconnected systems; ships; tracking; Lyapunov direct method; body frame; global asymptotic tracking; global exponential tracking control; interconnected structure; reference trajectory; ship dynamics; surge force; underactuated surface ships; yaw moment; Acceleration; Backstepping; Control systems; Force control; Marine vehicles; Numerical simulation; Stability analysis; Surges; Trajectory; Velocity control;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025400
