Global path-following control of stochastic underactuated ships: A level curve approach
A level curve approach is introduced to design global path-following controllers for an underactuated surface ship. The approach is based on the observation: if the position of the ship satisfies the equation of the reference path, then the ship will be on the path. Thus, the controllers are designe...
| Main Author: | |
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| Format: | Journal Article |
| Published: |
American Society of Mechanical Engineers (ASME)
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/41706 |
| _version_ | 1848756219424014336 |
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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 | A level curve approach is introduced to design global path-following controllers for an underactuated surface ship. The approach is based on the observation: if the position of the ship satisfies the equation of the reference path, then the ship will be on the path. Thus, the controllers are designed based on Lyapunov's direct and backstepping methods to force the position of the ship to satisfy the equation of the path and to move along the path tangentially. The approach does not require computation of the position from the ship to the path. Weak and strong nonlinear Lyapunov functions are introduced in the control design to overcome difficulties caused by underactuation and to guarantee boundedness of the sway velocity. Simulations are included to illustrate the effectiveness of the proposed results. |
| first_indexed | 2025-11-14T09:08:43Z |
| format | Journal Article |
| id | curtin-20.500.11937-41706 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:08:43Z |
| publishDate | 2015 |
| publisher | American Society of Mechanical Engineers (ASME) |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-417062017-09-13T14:17:05Z Global path-following control of stochastic underactuated ships: A level curve approach Do, Khac Duc A level curve approach is introduced to design global path-following controllers for an underactuated surface ship. The approach is based on the observation: if the position of the ship satisfies the equation of the reference path, then the ship will be on the path. Thus, the controllers are designed based on Lyapunov's direct and backstepping methods to force the position of the ship to satisfy the equation of the path and to move along the path tangentially. The approach does not require computation of the position from the ship to the path. Weak and strong nonlinear Lyapunov functions are introduced in the control design to overcome difficulties caused by underactuation and to guarantee boundedness of the sway velocity. Simulations are included to illustrate the effectiveness of the proposed results. 2015 Journal Article http://hdl.handle.net/20.500.11937/41706 10.1115/1.4029885 American Society of Mechanical Engineers (ASME) restricted |
| spellingShingle | Do, Khac Duc Global path-following control of stochastic underactuated ships: A level curve approach |
| title | Global path-following control of stochastic underactuated ships: A level curve approach |
| title_full | Global path-following control of stochastic underactuated ships: A level curve approach |
| title_fullStr | Global path-following control of stochastic underactuated ships: A level curve approach |
| title_full_unstemmed | Global path-following control of stochastic underactuated ships: A level curve approach |
| title_short | Global path-following control of stochastic underactuated ships: A level curve approach |
| title_sort | global path-following control of stochastic underactuated ships: a level curve approach |
| url | http://hdl.handle.net/20.500.11937/41706 |