Practical control of underactuated ships

被引：295
作者：
Do, K. D. [1 ]
机构：
[1] Univ Western Australia, Sch Mech Engn, Crawley, WA 6009, Australia
来源：
OCEAN ENGINEERING | 2010年 / 37卷 / 13期
关键词：
Underactuated ships; Practical control; Nonlinear control; Transverse function; Lyapunov direct method; GLOBAL TRACKING CONTROL; PATH CONTROL; STABILIZATION; SYSTEMS;
D O I：
10.1016/j.oceaneng.2010.04.007
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
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. (C) 2010 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1111 / 1119
页数：9
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