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    Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2016
    Type
    Journal Article
    
    Metadata
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    Citation
    Do, K.D. 2016. Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances. Ocean Engineering. 111: pp. 267-278.
    Source Title
    Ocean Engineering
    DOI
    10.1016/j.oceaneng.2015.10.038
    ISSN
    0029-8018
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/31924
    Collection
    • Curtin Research Publications
    Abstract

    © 2015 Elsevier Ltd. All rights reserved. This paper presents a design of new controllers that force underactuated ships under both deterministic and stochastic sea loads to globally track a reference path. First, the loads are decomposed to a deterministic part treated as unknown constants, and a time-varying part considered as stochastic disturbances with unknown time-varying covariances. Second, the path-tracking errors are represented in a moving frame attached to the path. These errors are then to be stabilized at the origin by a design of controllers based on backstepping and Lyapunov's direct methods. Weak and strong nonlinear Lyapunov functions are introduced, and the path-parameter is used as an additional control input to overcome difficulties caused by underactuation and Hessian terms induced by stochastic differentiation rule. Estimate of the deterministic disturbances and upper covariances of the stochastic disturbances is incorporated in the control design. The effectiveness of the proposed results is illustrated through simulations.

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