This paper studies the complete state tracking control of an underactuated ship with only two controls, namely, surge force and yaw moment. A novel finite-time switching controller is developed guaranteeing that the ship can track a reference trajectory generated by a virtual ship. The solution is based on the inherent cascaded interconnected structure of the ship dynamics. As opposed to the previous works, the assumptions used in this work are more relaxed in the sense that the reference surge and yaw velocities are allowed to be zero at the same time. Simulation results are given to serve the purpose of demonstrating and validating the proposed tracking methodology.
Global Tracking Controller for Underactuated Ship via Switching Design
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 23, 2013; final manuscript received April 18, 2014; published online July 10, 2014. Assoc. Editor: Jongeun Choi.
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Wu, Y., Zhang, Z., and Xiao, N. (July 10, 2014). "Global Tracking Controller for Underactuated Ship via Switching Design." ASME. J. Dyn. Sys., Meas., Control. September 2014; 136(5): 054506. https://doi.org/10.1115/1.4027504
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