Practical control of underactuated ships |
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Authors: | KD Do |
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Institution: | School of Mechanical Engineering, The University of Western Australia, 35 Stirling Highway, Crawley, WA 6009, Australia |
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Abstract: | This paper presents a design of global smooth controllers that achieve the practical stabilization of arbitrary reference trajectories, including fixed points and nonadmissible trajectories for underactuated ships. These ships do not have an independent actuator in the sway axis. The control design is based on several nonlinear coordinate changes, the transverse function approach, the back-stepping technique, the Lyapunov direct method, and utilization of the ship dynamics. Simulation results illustrate the effectiveness of the proposed control design. |
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Keywords: | Underactuated ships Practical control Nonlinear control Transverse function Lyapunov direct method |
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