Iterative design of time-varying stabilizers for multi-input systems in chained form
Systems & Control Letters
Tracking control of mobile robots: a case study in backstepping
Automatica (Journal of IFAC)
Exponential stabilization of an underactuated autonomous surface vessel
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Robust exponential regulation of nonholonomic systems with uncertainties
Automatica (Journal of IFAC)
Technical communique: Point-to-point navigation of underactuated ships
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Path following for marine surface vessels with rudder and roll constraints: an MPC approach
ACC'09 Proceedings of the 2009 conference on American Control Conference
A Backstepping Approach to Ship Course Control
International Journal of Applied Mathematics and Computer Science
Practical formation control of multiple underactuated ships with limited sensing ranges
Robotics and Autonomous Systems
Global robust adaptive path following of underactuated ships
Automatica (Journal of IFAC)
Global κ-exponential way-point maneuvering of ships: Theory and experiments
Automatica (Journal of IFAC)
Robust adaptive path following of underactuated ships
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Expert Systems with Applications: An International Journal
Adaptive steering control for uncertain ship dynamics and stability analysis
Automatica (Journal of IFAC)
Hi-index | 22.16 |
This paper studies the global tracking problem for an underactuated ship with only two propellers. Under sufficient conditions of persistent excitation, two constructive solutions are proposed by application of Lyapunov's direct method. Both solutions exploit the inherent cascade interconnected structure of the ship dynamics and generate explicit Lyapunov functions. A common feature of the second solution and the recent cascade approach of Lefeber (Tracking control of nonlinear mechanical systems, Ph.D. Thesis, University of Twente, 2000) is that global exponential tracking is achieved, but at the expense of transient performance. Extension to unmeasured thruster dynamics is also considered. Simulation results validate the proposed tracking methodology.