Trajectory Tracking Control for Underactuated Ships

	Trajectory Tracking Control for Underactuated Ships
	Feng Yi-wei; Feng Ping
	2014
关键词	underactuated ships Lyapunov function stability state feedback
页码	4273-4277
英文摘要	The paper studies the stability problem of trajectory tracking control for underactuated ships with only two propellers. Using the separation principle, a control law is derived according to the surge force and the yaw momentand and a sufficient condition is obtained to ensure the global asymptotic stability of an underactuated ship. To avoid the model differentiation, the control law is easy to be implemented by linear control technique and usually has semiglobal tracking performance of underactuated ship. Finally, the stability analysis and numerical simulations are performed to confirm the effectiveness of the proposed scheme.
会议录	2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA)
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	中文
WOS研究方向	Automation & Control Systems
WOS记录号	WOS:000393066204050
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/36586]
专题	电气工程与信息工程学院教务处（创新创业学院）
通讯作者	Feng Yi-wei
作者单位	Lanzhou Univ Tech, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
推荐引用方式 GB/T 7714	Feng Yi-wei,Feng Ping. Trajectory Tracking Control for Underactuated Ships[C]. 见:.