Abstract
[Truncated] Control of underactuated ocean vehicles is an active field of increasing interest due to their theoretical challenges and important applications such as passenger and goods transportation, environmental surveying, undersea cable inspection, offshore oil installations and many others. This thesis mainly reports new results on nonlinear control of underactuated ocean vehicles including surface ships and underwater vehicles. In addition, control of mobile robots, aircraft, and nonholonomic systems with strong nonlinear drifts is also presented as an application of the methodologies developed for ocean vehicles.
Part I addresses the problem of forcing an underactuated surface ship to globally asymptotically track a class of reference trajectories generated by a suitable model vessel. Particularly, this part presents a single controller for both stabilization and tracking without imposing restrictive assumptions that are often made on the reference trajectory in the literature. Both state and output-feedback issues are considered. An extension to trajectory tracking of underactuated underwater vehicles is also considered. The controllers are designed based on a several of coordinate transformations motivated by the practice of ship control, and nonlinear control theory.
Part I addresses the problem of forcing an underactuated surface ship to globally asymptotically track a class of reference trajectories generated by a suitable model vessel. Particularly, this part presents a single controller for both stabilization and tracking without imposing restrictive assumptions that are often made on the reference trajectory in the literature. Both state and output-feedback issues are considered. An extension to trajectory tracking of underactuated underwater vehicles is also considered. The controllers are designed based on a several of coordinate transformations motivated by the practice of ship control, and nonlinear control theory.
| Original language | English |
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| Qualification | Doctor of Philosophy |
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| DOIs | |
| Publication status | Unpublished - 2003 |
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