Path-tracking Control of Underactuated Ships Under Tracking Error Constraints

• Published in: Journal of marine science and application Vol. 14; no. 4; pp. 343 - 354
• Main Author: Do, Khac Duc
• Format: Journal Article
• Language: English
• Published: Harbin Harbin Engineering University 01.12.2015; Department of Mechanical Engineering, Curtin University, Kent Street, Bentley, WA 6102, Australia
• Subjects: Electrical Machines and Networks; Engineering; Geotechnical Engineering & Applied Earth Sciences; Lyapunov直接方法; Machinery and Machine Elements; Offshore Engineering; Power Electronics; 扰动观测器; 欠驱动; 波浪载荷; 渐近跟踪; 船舶常数; 跟踪误差; 路径跟踪控制; Lyapunov method; backstepping method; underactuated ship; error constraint; path-tracking
• ISSN: 1671-9433; 1993-5048
• DOI: 10.1007/s11804-015-1329-3

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.