Global tracking control of underactuated ships in the body frame
Tác giả: Đỗ Khắc Đức, J. Pan, Z.P. Jiang
Nhà xuất bản: Proceedings of IFAC World Congress, Barcelona, Spain
A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The control development is based on Lyapunov’s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Numerical simulations validate the proposed controller.