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    Path-tracking control of underactuated ships under tracking error constraints

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2015
    Type
    Journal Article
    
    Metadata
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    Citation
    Do, K.D. 2015. Path-tracking control of underactuated ships under tracking error constraints. Journal of Marine Science and Application. 14 (4): pp. 343-354.
    Source Title
    Journal of Marine Science and Application
    DOI
    10.1007/s11804-015-1329-3
    ISSN
    1671-9433
    School
    Department of Mechanical Engineering
    Funding and Sponsorship
    http://purl.org/au-research/grants/arc/DP0988424
    URI
    http://hdl.handle.net/20.500.11937/46037
    Collection
    • Curtin Research Publications
    Abstract

    This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov’s direct methods. The effectiveness of the proposed results is illustrated through simulations.

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