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Underactuated ships follow smooth paths with integral actions and without velocity measurements for feedback: Theory and experiments

Tác giả: Đỗ Khắc Đức, J. Pan

Nhà xuất bản: IEEE Transactions on Control Systems Technology Vol. 14, No. 2 pp. 308 - 322

Steering a ship along a desired path with a prescribed forward speed is a vitally important issue in many offshore applications. This paper presents a global controller that forces a ship without a sway actuator to follow a reference path and without velocity measurements for feedback. Nonlinear damping terms are also included to cover both low - and high - speed applications. Integral actions are added to the controller to compensate for a constant bias of environmental disturbances. Experimental results on a model ship illustrate the effectiveness of the proposed method