Title :
Global κ-exponential way-point manoeuvering of ships
Author :
Fredriksen, Espen ; Pettersen, Kristin Y.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
This paper considers way-point manoeuvering in three degrees of freedom (surge, sway and yaw). A line-of-sight motivated control law that globally κ-exponentially stabilizes an underactuated ship is derived using output redefinition and cascaded systems theory. The control law development is based on a general nonlinear ship model with surge propeller force and rudder moment as control inputs. Simulation results on a full scale model of a supply vessel are presented.
Keywords :
motion control; navigation; nonlinear control systems; ships; cascaded systems theory; global κ-exponential way-point manoeuvering; line-of-sight control law; nonlinear ship model; output redefinition; rudder moment; ship manoeuvering; supply vessel; surge propeller force; underactuated ship; Control systems; Force control; Joining processes; Marine vehicles; Propellers; Sliding mode control; Stability; Surges; Trajectory; Velocity control;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1429660
