SEMI-GLOBAL OUTPUT FEEDBACK TRACKING CONTROL FOR FULLY ACTUATED SHIPS

被引：4

作者：

Du, Jialu ^{[1
]}

Yu, Shuanghe ^{[1
]}

Zhao, Yongsheng ^{[1
]}

Yu, Xinghuo ^{[2
]}

机构：

[1] Dalian Maritime Univ, Sch Informat & Sci Technol, Dalian, Liaoning, Peoples R China

[2] RMIT Univ, Sch Elect & Comp Engn, Melbourne, Vic, Australia

来源：

ASIAN JOURNAL OF CONTROL | 2011年 / 13卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Output feedback tacking control; nonlinear observer; cascaded systems; ships;

D O I：

10.1002/asjc.354

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An output feedback trajectory tracking controller for a kind of 3 degrees of freedom (DOF) ship motion nonlinear model is designed. The closed-loop control system is proven to be uniformly semi-globally exponential stable with a separate stability result for the observer by applying nonlinear cascaded system theory. Simulation results on a model ship, Cybership II, are presented to validate the proposed control scheme.

引用

页码：570 / 575

页数：6

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