Straight-Line Trajectory Tracking Control for Sampled-Data Underactuated Ships

Straight-line trajectory tracking control of sampled-data underactuated ships with both state and output feedback controllers is considered and analyzed by resorting to a nonlinear sampled-data control theory. State feedback controllers and reduced-order observers are designed on the basis of the Eu...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 22; no. 4; pp. 1638 - 1645
Main Authors Katayama, Hitoshi, Aoki, Hirotaka
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Approximation
Asymptotic properties
Control of sampled-data underactuated ships
Controllers
Marine vehicles
nonlinear sampled-data control
Observers
Output feedback
Ships
Simulation
State feedback
Tracking control
Tracking errors
Trajectories
Trajectory
trajectory tracking control
trajectory tracking control
Control of sampled-data underactuated ships
nonlinear sampled-data control
Online AccessGet full text

Cover

More Information
Summary:Straight-line trajectory tracking control of sampled-data underactuated ships with both state and output feedback controllers is considered and analyzed by resorting to a nonlinear sampled-data control theory. State feedback controllers and reduced-order observers are designed on the basis of the Euler approximate models. Then they are combined to obtain output feedback controllers that semiglobally practically uniformly asymptotically stabilize the tracking error dynamics. Both simulation and experimental results are given to show the efficiency of the designed controllers.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2013.2280717