Global stabilisation and tracking control of underactuated surface vessels

J. Ghommam*, F. Mnif, N. Derbel

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

132 Citations (Scopus)


In this study, the authors solve the problem of uniform global asymptotic stabilisation and global exponential tracking for an underactuated ship with only two propellers. A unified backstepping design methodology is proposed to tackle both the stabilisation and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple. The study also addresses the tracking problem with constant bias of environmental disturbances. Simulation results are provided to validate our theoretical results.

Original languageEnglish
Pages (from-to)71-88
Number of pages18
JournalIET Control Theory and Applications
Issue number1
Publication statusPublished - 2010

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering


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