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

Duc Do, Jie Pan

Research output: Contribution to journalArticlepeer-review

108 Citations (Scopus)

Abstract

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. (C) 2003 Elsevier Ltd. All rights reserved.
Original languageEnglish
Pages (from-to)587-613
JournalOcean Engineering
Volume31
Issue number5-6
DOIs
Publication statusPublished - 2004

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