Robust global stabilization of underactuated ships on a linear course
Tác giả: Đỗ Khắc Đức, Z.P. Jiang, J. Pan
Nhà xuất bản: Proceedings of American Control Conference, Alaska, USA, pp. 304-309
Develops a state feedback controller that forces underactuated ships to globally ultimately track a straight line under environmental disturbances induced by wave, wind and ocean current. The control development is based on the backstepping technique and some technical lemmas introduced for a nonlinear system with non-vanishing disturbances. Simulation results on a 32 m long ship are presented to validate the proposed controller.