Trajectory tracking control for underactuated ships

doi:10.1109/WCICA.2014.7053431

	Trajectory tracking control for underactuated ships
	Feng, Yi-Wei; Feng, Ping
	2015-03-02
会议日期	June 29, 2014 - July 4, 2014
会议地点	Shenyang, China
卷号	2015-March
期号	March
DOI	10.1109/WCICA.2014.7053431
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. © 2014 IEEE.
会议录	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	中文
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/117191]
专题	教务处（创新创业学院）
作者单位	College of Electrical and Information Engineering, Lanzhou Univ. of Tech., Lanzhou, China
推荐引用方式 GB/T 7714	Feng, Yi-Wei,Feng, Ping. Trajectory tracking control for underactuated ships[C]. 见:. Shenyang, China. June 29, 2014 - July 4, 2014.