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Global κ-exponential way-point manoeuvering of ships

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2 Author(s)
Fredriksen, E. ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; Pettersen, K.Y.

This paper considers way-point manoeuvering in three degrees of freedom (surge, sway and yaw). A line-of-sight motivated control law that globally κ-exponentially stabilizes an underactuated ship is derived using output redefinition and cascaded systems theory. The control law development is based on a general nonlinear ship model with surge propeller force and rudder moment as control inputs. Simulation results on a full scale model of a supply vessel are presented.

Published in:

Decision and Control, 2004. CDC. 43rd IEEE Conference on  (Volume:5 )

Date of Conference:

14-17 Dec. 2004