Point-to-point navigation of underactuated ships

被引：298
作者：
Li, Ji-Hong [1 ]
Lee, Pan-Mook [1 ]
Jun, Bong-Huan [1 ]
Lim, Yong-Kon [1 ]
机构：
[1] KORDI, Maritime & Ocean Engn Res Inst, Taejon 305343, South Korea
来源：
AUTOMATICA | 2008年 / 44卷 / 12期
关键词：
Underactuated ships; Point-to-point navigation; Path tracking; Path following; Nonlinear control;
D O I：
10.1016/j.automatica.2008.08.003
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship's sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately bounded (UUB). A numerical simulation study is also performed to illustrate the effectiveness of the proposed scheme. (C) 2008 Elsevier Ltd. All rights reserved.
引用
收藏
页码：3201 / 3205
页数：5
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