𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Practical control of underactuated ships

✍ Scribed by K.D. Do

Publisher
Elsevier Science
Year
2010
Tongue
English
Weight
582 KB
Volume
37
Category
Article
ISSN
0029-8018

No coin nor oath required. For personal study only.

✦ Synopsis

This paper presents a design of global smooth controllers that achieve the practical stabilization of arbitrary reference trajectories, including fixed points and nonadmissible trajectories for underactuated ships. These ships do not have an independent actuator in the sway axis. The control design is based on several nonlinear coordinate changes, the transverse function approach, the back-stepping technique, the Lyapunov direct method, and utilization of the ship dynamics. Simulation results illustrate the effectiveness of the proposed control design.

πŸ“œ SIMILAR VOLUMES

Practical formation control of multiple
Practical formation control of multiple underactuated ships with limited sensing ranges
✍ K.D. Do πŸ“‚ Article πŸ“… 2011 πŸ› Elsevier Science 🌐 English βš– 735 KB

This paper presents a constructive method to design cooperative controllers that force a group of N underactuated ships with limited sensing ranges to perform a desired formation, and guarantee no collisions between the ships. These ships do not have an independent actuator in the sway axis. The des

Robust adaptive control of underactuated
Robust adaptive control of underactuated ships on a linear course with comfort
✍ K.D. Do; J. Pan; Z.P. Jiang πŸ“‚ Article πŸ“… 2003 πŸ› Elsevier Science 🌐 English βš– 281 KB

This paper addresses an important problem in ship control application-the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll an

Control of nonlinear underactuated syste
Control of nonlinear underactuated systems
✍ David Auckly; Lev Kapitanski; Warren White πŸ“‚ Article πŸ“… 2000 πŸ› John Wiley and Sons 🌐 English βš– 311 KB πŸ‘ 1 views

In this paper we introduce a new method to design control laws for nonlinear, underactuated systems. Our method produces an infinite-dimensional family of control laws, whereas most control techniques only produce a finite-dimensional family. These control laws each come with a natural Lyapunov func