Robust adaptive path following of underactuated ships

Robust path following is an issue of vital practical importance to the ship industry. In this paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances ind...

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Bibliographic Details
Published in:Automatica (Oxford) 2004-06, Vol.40 (6), p.929-944
Main Authors: Do, K.D., Jiang, Z.P., Pan, J.
Format: Article
Language:English
Subjects:
Adaptation
Applied sciences
Cascade system
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Nonlinear control
Parking
Path following
Point-to-point navigation
Robustness
Underactuated ship
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Summary:Robust path following is an issue of vital practical importance to the ship industry. In this paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controller is scalable and is designed using Lyapunov's direct method and the popular backstepping and parameter projection techniques. Along the way of proving closed-loop stability, we obtain a new stability result for nonlinear cascade systems with non-vanishing uncertainties. Interestingly, it is shown in this paper that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations using the real data of a monohull ship are provided to illustrate the effectiveness of the proposed methodology for path following of underactuated ships.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2004.01.021