Institutional Repository of Coll Elect & Informat Engn
Trajectory Tracking Control for Underactuated Ships | |
Feng Yi-wei; Feng Ping | |
2014 | |
会议名称 | 2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) |
会议录名称 | 2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) |
页码 | 4273-4277 |
出版地 | 345 E 47TH ST, NEW YORK, NY 10017 USA |
出版者 | IEEE |
摘要 | The paper studies the stability problem of trajectory tracking control for underactuated ships with only two propellers. Using the separation principle, a control law is derived according to the surge force and the yaw momentand and a sufficient condition is obtained to ensure the global asymptotic stability of an underactuated ship. To avoid the model differentiation, the control law is easy to be implemented by linear control technique and usually has semiglobal tracking performance of underactuated ship. Finally, the stability analysis and numerical simulations are performed to confirm the effectiveness of the proposed scheme. |
关键词 | underactuated ships Lyapunov function stability state feedback |
收录类别 | CPCI |
语种 | 中文 |
WOS研究方向 | Automation & Control Systems |
WOS类目 | Automation & Control Systems |
WOS记录号 | WOS:000393066204050 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | https://ir.lut.edu.cn/handle/2XXMBERH/36586 |
专题 | 电气工程与信息工程学院 教务处(创新创业学院) |
通讯作者 | Feng Yi-wei |
作者单位 | Lanzhou Univ Tech, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China |
第一作者单位 | 电气工程与信息工程学院 |
通讯作者单位 | 电气工程与信息工程学院 |
推荐引用方式 GB/T 7714 | Feng Yi-wei,Feng Ping. Trajectory Tracking Control for Underactuated Ships[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2014:4273-4277. |
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