ملخص
This work provides algorithms for underactuated ship path guidance using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The control laws in surge and yaw are derived using backstepping. This results in a dynamic feedback controller where the dynamics of the uncontrolled sway mode enters the yaw control law. Uniform Global Asymptotic Stability (UGAS) is proven for the tracking error dynamics in surge and yaw while the controller dynamics is bounded. To show the effectiveness of the controller and guidance systems, we simulate our algorithm using Simulink on a marine craft model.
اللغة الأصلية | English |
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الصفحات | 20-26 |
عدد الصفحات | 7 |
حالة النشر | Published - 2005 |
منشور خارجيًا | نعم |
الحدث | 7th Annual Middle Eastern Simulation Multiconference, MESM 2005 - Porto, Portugal المدة: أكتوبر ٢٤ ٢٠٠٥ → أكتوبر ٢٦ ٢٠٠٥ |
Other
Other | 7th Annual Middle Eastern Simulation Multiconference, MESM 2005 |
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الدولة/الإقليم | Portugal |
المدينة | Porto |
المدة | ١٠/٢٤/٠٥ → ١٠/٢٦/٠٥ |
ASJC Scopus subject areas
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