Title :
Output feedback circular path following control for sampled-data underactuated ships
Author :
Katayama, Hitoshi ; Aoki, Hirotaka
Author_Institution :
Department of Electrical and Electronic Engineering, Shizuoka University, Japan
Abstract :
Circular path following control of sampled-data underactuated ships is considered by both state and output feedback controllers. State feedback controllers are obtained by a line-of-sight guidance algorithm and the Euler approximate model of a tracking error dynamics. Then the output feedback controllers that achieve circular path following control are obtained by combining the designed state feedback controllers and reduced-order observers designed for the Euler approximate model of a ship dynamics. Simulation results are also given to show the efficiency of the designed controllers.
Keywords :
Closed loop systems; Marine vehicles; Observers; Output feedback; State feedback; Surges; Trajectory; Control of underactuated ships; Input-to-state stability; Nonlinear sampled-data control;
Conference_Titel :
SICE Annual Conference (SICE), 2013 Proceedings of
Conference_Location :
Nagoya, Japan
