Trajectory Tracking Control for Underactuated Ships

	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	被引频次[WOS]：0 [WOS记录] [WOS相关记录]
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.