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Path-tracking Control of Underactuated Ships

Part of the Advances in Industrial Control book series (AIC)

Abstract

This chapter deals with the problem of designing controllers to force an underactuated surface ship with standard dynamics to track a reference path. Both full-state feedback and output feedback cases are considered. In comparison with the preceding three chapters, the requirement that the reference trajectories be generated by virtual ships is relaxed, and the control design is simpler and more amenable for implementation in practice. The control development is based on a series of coordinate transformations, the backstepping technique, and utilizing the dynamic structure of the ship.

Keywords

Close Loop System Tracking Error Output Feedback Forward Speed Orientation Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 2009

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