Global path-following control of underactuated ships under deterministic and stochastic sea loads
This paper presents a new method to design global path-following controllers for underactuated ships under both deterministic and stochastic sea loads. The path-following errors are first interpreted in a moving frame attached to the path. These errors are then to be stabilized at the origin by a de...
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| Format: | Journal Article |
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Cambridge University Press
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/7752 |
| _version_ | 1848745460342194176 |
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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 new method to design global path-following controllers for underactuated ships under both deterministic and stochastic sea loads. The path-following errors are first interpreted in a moving frame attached to the path. These errors are then to be stabilized at the origin by a design of controllers based on backstepping and Lyapunov's direct methods. Weak and strong nonlinear Lyapunov functions are introduced to overcome difficulties caused by underactuation and Hessian terms induced by stochastic differentiation rule, and to guarantee boundedness of the sway velocity. Potential projection functions are introduced to design update laws that provide bounded estimates of the mean values and covariances of the disturbances. Simulations are included to illustrate the effectiveness of the proposed approach. |
| first_indexed | 2025-11-14T06:17:43Z |
| format | Journal Article |
| id | curtin-20.500.11937-7752 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T06:17:43Z |
| publishDate | 2015 |
| publisher | Cambridge University Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-77522017-09-13T14:37:53Z Global path-following control of underactuated ships under deterministic and stochastic sea loads Do, Khac Duc This paper presents a new method to design global path-following controllers for underactuated ships under both deterministic and stochastic sea loads. The path-following errors are first interpreted in a moving frame attached to the path. These errors are then to be stabilized at the origin by a design of controllers based on backstepping and Lyapunov's direct methods. Weak and strong nonlinear Lyapunov functions are introduced to overcome difficulties caused by underactuation and Hessian terms induced by stochastic differentiation rule, and to guarantee boundedness of the sway velocity. Potential projection functions are introduced to design update laws that provide bounded estimates of the mean values and covariances of the disturbances. Simulations are included to illustrate the effectiveness of the proposed approach. 2015 Journal Article http://hdl.handle.net/20.500.11937/7752 10.1017/S0263574715000211 Cambridge University Press restricted |
| spellingShingle | Do, Khac Duc Global path-following control of underactuated ships under deterministic and stochastic sea loads |
| title | Global path-following control of underactuated ships under deterministic and stochastic sea loads |
| title_full | Global path-following control of underactuated ships under deterministic and stochastic sea loads |
| title_fullStr | Global path-following control of underactuated ships under deterministic and stochastic sea loads |
| title_full_unstemmed | Global path-following control of underactuated ships under deterministic and stochastic sea loads |
| title_short | Global path-following control of underactuated ships under deterministic and stochastic sea loads |
| title_sort | global path-following control of underactuated ships under deterministic and stochastic sea loads |
| url | http://hdl.handle.net/20.500.11937/7752 |