DocumentCode
3181137
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
Volume
5
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
5360
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1429660
Filename
1429660
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