Trajectory-tracking Control of Underactuated Ships
This chapter addresses the problem of trajectory-tracking control of underactuated surface ships. In particular, we present a method to design a controller for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship. The reference yaw velocity does not have to satisfy a persistently exciting condition as was often required in previous literature. Hence, the reference trajectory is allowed to be a curve including a straight line and a circle. In addition, a new solution to global K-exponential tracking as given in previous work is obtained. The control development is based on Lyapunov’s direct method and the backstepping technique, and utilizes passive properties of ship dynamics and their interconnected structure.
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