Straight-Line Trajectory Tracking Control for Sampled-Data Underactuated Ships

被引：96

作者：

Katayama, Hitoshi ^{[1
]}

Aoki, Hirotaka ^{[2
]}

机构：

[1] Shizuoka Univ, Dept Elect & Elect Engn, Hamamatsu, Shizuoka 4328561, Japan

[2] Yamaha Motor Co Ltd, Ctr Technol, Res & Dev Sect, Iwata 4388501, Japan

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2014年 / 22卷 / 04期

关键词：

Control of sampled-data underactuated ships; nonlinear sampled-data control; trajectory tracking control; UNIFORM ASYMPTOTIC STABILIZATION; DISCRETE-TIME; VEHICLES;

D O I：

10.1109/TCST.2013.2280717

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Straight-line trajectory tracking control of sampled-data underactuated ships with both state and output feedback controllers is considered and analyzed by resorting to a nonlinear sampled-data control theory. State feedback controllers and reduced-order observers are designed on the basis of the Euler approximate models. Then they are combined to obtain output feedback controllers that semiglobally practically uniformly asymptotically stabilize the tracking error dynamics. Both simulation and experimental results are given to show the efficiency of the designed controllers.

引用

页码：1638 / 1645

页数：8

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