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Universal controllers for stabilization and tracking of underactuated ships

✍ Scribed by K.D. Do; Z.P. Jiang; J. Pan

Book ID
104300534
Publisher
Elsevier Science
Year
2002
Tongue
English
Weight
237 KB
Volume
47
Category
Article
ISSN
0167-6911

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✦ Synopsis

We examine the problem of universal control for underactuated surface ships with only surge force and yaw moment. Namely, a single controller is to be designed to achieve stabilization and tracking simultaneously. We propose, in this paper, the ΓΏrst universal controller of which the synthesis is based on Lyapunov's direct method and backstepping technique. Our result is extendible to the input-saturation when the surge and yaw velocities are considered as the controls. Numerical simulations are provided to validate the e ectiveness of the proposed controller and to demonstrate its sensitivity with respect to model parameters.

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