Practical control of underactuated ships
This paper presents a design of global smooth controllers that achieve the practical stabilization of arbitrary reference trajectories, including fixed points and nonadmissible trajectories for underactuated ships. These ships do not have an independent actuator in the sway axis. The control design...
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| Format: | Journal Article |
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Elsevier
2010
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| Online Access: | http://hdl.handle.net/20.500.11937/16729 |
| _version_ | 1848749259810144256 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a design of global smooth controllers that achieve the practical stabilization of arbitrary reference trajectories, including fixed points and nonadmissible trajectories for underactuated ships. These ships do not have an independent actuator in the sway axis. The control design is based on several nonlinear coordinate changes, the transverse function approach, the back-stepping technique, the Lyapunov direct method, and utilization of the ship dynamics. Simulation results illustrate the effectiveness of the proposed control design. © 2010 Elsevier Ltd. |
| first_indexed | 2025-11-14T07:18:06Z |
| format | Journal Article |
| id | curtin-20.500.11937-16729 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:18:06Z |
| publishDate | 2010 |
| publisher | Elsevier |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-167292017-09-13T15:43:29Z Practical control of underactuated ships Do, Khac Duc This paper presents a design of global smooth controllers that achieve the practical stabilization of arbitrary reference trajectories, including fixed points and nonadmissible trajectories for underactuated ships. These ships do not have an independent actuator in the sway axis. The control design is based on several nonlinear coordinate changes, the transverse function approach, the back-stepping technique, the Lyapunov direct method, and utilization of the ship dynamics. Simulation results illustrate the effectiveness of the proposed control design. © 2010 Elsevier Ltd. 2010 Journal Article http://hdl.handle.net/20.500.11937/16729 10.1016/j.oceaneng.2010.04.007 Elsevier restricted |
| spellingShingle | Do, Khac Duc Practical control of underactuated ships |
| title | Practical control of underactuated ships |
| title_full | Practical control of underactuated ships |
| title_fullStr | Practical control of underactuated ships |
| title_full_unstemmed | Practical control of underactuated ships |
| title_short | Practical control of underactuated ships |
| title_sort | practical control of underactuated ships |
| url | http://hdl.handle.net/20.500.11937/16729 |