Underactuated ship global tracking without measurement of velocities

Author

Do, K.D. ; Pan, J.

Author_Institution

Sch. of Mech. Eng., Western Australia Univ., Nedlands, WA, Australia

Volume

3

fYear

2003

fDate

4-6 June 2003

Firstpage

2012

Abstract

A new global output-feedback controller for tracking control of an underactuated surface ship with only surge force and yaw moment available and without measurements of velocities. The reference trajectory to be tracked is allowed to be a curve including a straight-line. A global nonlinear coordinate change is introduced to transform the ship dynamics to a system affine in the ship velocities. A global nonlinear exponential observer is proposed to estimate unmeasured velocities. The controller development is based on the Lyapunov direct method and backstepping technique, and utilizes the passive property of ship dynamics and their interconnected structure.

Keywords

Lyapunov methods; feedback; nonlinear control systems; observers; position control; ships; tracking; velocity control; backstepping technique; interconnected structure; nonlinear exponential observer; output feedback controller; reference trajectory; ship dynamics; ship velocity; surge force; tracking control; underactuated ship global tracking; underactuated surface ship; velocity measurement; yaw moment; Backstepping; Force control; Force measurement; Lagrangian functions; Marine vehicles; Nonlinear dynamical systems; Sea surface; Surges; Trajectory; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1243370

Filename

1243370