Path-tracking control of underactuated ships under tracking error constraints
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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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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 ...
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 (2016)© 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 ...