By Topic

Semiglobal exponential output feedback control of ships

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
B. Vik ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; T. I. Fossen

This paper describes a semiglobal exponentially stable output feedback control law for automatic heading control of ships described by a nonlinear model. Only compass (yaw angle) feedback is used. The yaw rate signal is reconstructed by a linear observer. A wave filter is included in the observer to reduce wear and tear on the rudder servo due to first-order wave-induced disturbances. Integral action is included in the control law to compensate for wave drift (second-order wave disturbances), low-frequency wind, and current disturbances. The performance and robustness of the controller are demonstrated in a simulation study of two medium-sized ships

Published in:

IEEE Transactions on Control Systems Technology  (Volume:5 ,  Issue: 3 )