Underactuated Ships Follow Smooth Paths With Integral Actions and Without Velocity Measurements for Feedback: Theory and Experiments

Duc Do, Jie Pan

Research output: Contribution to journalArticle

82 Citations (Scopus)

Abstract

Steering a ship along a desired path with a prescribed forward speed is a vitally important issue in many offshore applications. This paper presents a global controller that forces a ship without a sway actuator to follow a reference path and without velocity measurements for feedback. Nonlinear damping terms are also included to cover both low- and high-speed applications. Integral actions are added to the controller to compensate for a constant bias of environmental disturbances. Experimental results on a model ship illustrate the effectiveness of the proposed method.
Original languageEnglish
Pages (from-to)308-322
JournalIEEE Transactions on Control Systems Technology
Volume14
Issue number2
DOIs
Publication statusPublished - 2006

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