Tracking control of an underactuated ship

被引：296
作者：
Lefeber, E
Pettersen, KY
Nijmeijer, H
机构：
[1] Eindhoven Univ Technol, Dept Engn Mech, NL-5600 MB Eindhoven, Netherlands
[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2003年 / 11卷 / 01期
关键词：
cascade control; marine vehicle control; nonlinear systems; tracking;
D O I：
10.1109/TCST.2002.806465
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally K-exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.
引用
收藏
页码：52 / 61
页数：10
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