Path-tracking Control of Underactuated Ships

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


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.


Close Loop System Tracking Error Output Feedback Forward Speed Orientation Error 
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Copyright information

© Springer-Verlag London Limited 2009

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