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 Khac Duc Do.Path-tracking Control of Underactuated Ships Under Tracking Error Constraints[J].Journal of Marine Science and Application,2015,(4):343-354.[doi:10.1007/s11804-015-1329-3]
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Path-tracking Control of Underactuated Ships Under Tracking Error Constraints


Path-tracking Control of Underactuated Ships Under Tracking Error Constraints
Khac Duc Do
Khac Duc Do
Department of Mechanical Engineering, Curtin University, Kent Street, Bentley, WA 6102, Australia
underactuated shippath-trackingerror constraintLyapunov methodbackstepping method
This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov’s direct methods. The effectiveness of the proposed results is illustrated through simulations.


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基金项目:Supported in Part by the Australian Research Council Under Grant No. DP0988424.
通讯作者:Khac Duc Do, E-mail:duc@curtin.edu.au
Last Update: 2015-11-07