Global path-following control of stochastic underactuated ships: A level curve approach
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A level curve approach is introduced to design global path-following controllers for an underactuated surface ship. The approach is based on the observation: if the position of the ship satisfies the equation of the reference path, then the ship will be on the path. Thus, the controllers are designed based on Lyapunov's direct and backstepping methods to force the position of the ship to satisfy the equation of the path and to move along the path tangentially. The approach does not require computation of the position from the ship to the path. Weak and strong nonlinear Lyapunov functions are introduced in the control design to overcome difficulties caused by underactuation and to guarantee boundedness of the sway velocity. Simulations are included to illustrate the effectiveness of the proposed results.
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Do, Khac Duc (2009)Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors' ...
Do, Khac Duc (2015)This paper presents a new method to design global path-following controllers for underactuated ships under both deterministic and stochastic sea loads. The path-following errors are first interpreted in a moving frame ...
Do, Khac Duc (2016)© 2016 IEEE.This paper presents a constructive method to design distributed controllers that force a group of N underactuated ships under sea loads to perform a desired synchronization motion tracking task and guarantee ...