Abstract
This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov’s direct methods. The effectiveness of the proposed results is illustrated through simulations.
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Foundation item: Supported in Part by the Australian Research Council Under Grant DP0988424.
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Do, K.D. Path-tracking control of underactuated ships under tracking error constraints. J. Marine. Sci. Appl. 14, 343–354 (2015). https://doi.org/10.1007/s11804-015-1329-3
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DOI: https://doi.org/10.1007/s11804-015-1329-3