Path-tracking control of underactuated ships under tracking error constraints
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 c...
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| Format: | Journal Article |
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2015
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| Online Access: | http://purl.org/au-research/grants/arc/DP0988424 http://hdl.handle.net/20.500.11937/46037 |
| _version_ | 1848757449622814720 |
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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 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. |
| first_indexed | 2025-11-14T09:28:16Z |
| format | Journal Article |
| id | curtin-20.500.11937-46037 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:28:16Z |
| publishDate | 2015 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-460372017-09-13T15:05:24Z Path-tracking control of underactuated ships under tracking error constraints Do, Khac Duc 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. 2015 Journal Article http://hdl.handle.net/20.500.11937/46037 10.1007/s11804-015-1329-3 http://purl.org/au-research/grants/arc/DP0988424 restricted |
| spellingShingle | Do, Khac Duc Path-tracking control of underactuated ships under tracking error constraints |
| title | Path-tracking control of underactuated ships under tracking error constraints |
| title_full | Path-tracking control of underactuated ships under tracking error constraints |
| title_fullStr | Path-tracking control of underactuated ships under tracking error constraints |
| title_full_unstemmed | Path-tracking control of underactuated ships under tracking error constraints |
| title_short | Path-tracking control of underactuated ships under tracking error constraints |
| title_sort | path-tracking control of underactuated ships under tracking error constraints |
| url | http://purl.org/au-research/grants/arc/DP0988424 http://hdl.handle.net/20.500.11937/46037 |