State- and output-feedback robust path-following controllers for underactuated ships using Serret–Frenet frame

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• 作者：Do ; K.D. ; Pan ; J.
• 关键词：Path following ; Underactuated ship ; Cascade system ; State and output feedback
• 刊名：Ocean Engineering
• 出版年：2004
• 出版时间：April, 2004
• 年：2004
• 卷：31
• 期：5-6
• 页码：587-613
• 全文大小：291 K

文摘

This paper develops state- and output-feedback controllers that force an underactuated surface ship to follow a predefined path at a constant forward speed controlled by the main thruster system under the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controllers are designed using Lyapunov’s direct method and the popular backstepping. The unmeasured sway and yaw velocities are estimated by introducing a new nonlinear passive observer. A stability result for nonlinear cascade systems with nonvanishing uncertainties is introduced to analyze closed-loop stability. Numerical simulations using the real data of a monohull ship are provided to illustrate the effectiveness of the proposed methodology for path following of underactuated ships.