By Topic

Lyapunov design for global tracking of underactuated 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
$31 $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

1 Author(s)
Zhong-Ping Jiang ; Department of Electr. & Comput. Eng., Polytech. Univ. Brooklyn, NY, USA

It is well-known that ship control is a hard problem. In this paper, we consider the global tracking problem for a simplified chip model with only two propellers. By application of Lyapunov's direct method and exploitation of the inherent cascade-interconnected structure of the ship dynamics, two constructive tracking designs are presented. In contrast to the existing cascade approach, our approach produces an explicit Lyapunov function which can be used for robustness analysis and robustification. Unmeasured thruster dynamics is addressed for the first time. Computer simulations demonstrate the efficiency of the proposed tracking method

Published in:

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on  (Volume:5 )

Date of Conference:

2001