Tracking control of an underactuated ship

In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally K- exponentially stable. Experimental results are presented where...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2003-01, Vol.11 (1), p.52-61
Main Authors: Lefeber, E., Pettersen, K.Y., Nijmeijer, H.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control systems
Control theory. Systems
Damping
Error correction
Exact sciences and technology
Feedback
Force control
Law
Marine vehicles
Nonlinear control systems
Offshore
Offshore structures
Scale models
Ships
Stability
Surges
Tracking errors
Vehicle dynamics
Yaw
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Summary:In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally K- exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2002.806465