TY - GEN
T1 - Globally adaptive path tracking control of underactuated ships
AU - Wang, Wei
AU - Huang, Jiangshuai
PY - 2013
Y1 - 2013
N2 - In this paper, a nonlinear adaptive control strategy is developed to force an underactuated ship to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances induced by wave, wind and ocean current. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be tracked globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.
AB - In this paper, a nonlinear adaptive control strategy is developed to force an underactuated ship to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances induced by wave, wind and ocean current. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be tracked globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.
KW - Adaptive control
KW - Traverse Function Approach
KW - Underactuated Ships
UR - https://www.scopus.com/pages/publications/84882777843
U2 - 10.1109/CCDC.2013.6560994
DO - 10.1109/CCDC.2013.6560994
M3 - 会议稿件
AN - SCOPUS:84882777843
SN - 9781467355322
T3 - 2013 25th Chinese Control and Decision Conference, CCDC 2013
SP - 595
EP - 600
BT - 2013 25th Chinese Control and Decision Conference, CCDC 2013
T2 - 2013 25th Chinese Control and Decision Conference, CCDC 2013
Y2 - 25 May 2013 through 27 May 2013
ER -