A Trajectory Tracking Control Method for Underactuated Surface Ships

摘要：

We proposed a nonlinear control method for trajectory tracking of underactuated surface ship. The nonlinear hydrodynamic damp and sway velocity are included in the ship model, which can stand for high speed and low speed of the ship. In kinematics loop the reference yaw angle and the reference speed are given. The nonlinear controller is designed in dynamics loop to make the error variables asymptotically stable. The stability of the closed-loop system is analyzed by using Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control method.

关键词： Underactuated Ship Trajectory Tracking Nonlinear Control Cascade System

作者: LIU Yang GUO Chen

作者单位: College of Information Science and Technology, Dalian Maritime University, Dalian 116026, China Scho College of Information Science and Technology, Dalian Maritime University, Dalian 116026, China

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 1419-1422

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）