DocumentCode
2100721
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
Volume
6
fYear
2002
fDate
2002
Firstpage
4702
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;
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.2002.1025400
Filename
1025400
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