Backstepping Designs for Nonlinear Way-point Tracking of Ships
نویسندگان
چکیده
WAY-POINT TRACKING OF SHIPS Knut Eilif Husa and Thor I. Fossen Norwegian University of Science and Technology, Department of Engineering Cybernetics, N-7034 Trondheim, NORWAY (E-mail:[email protected], http://www.itk.ntnu.no/ansatte/Fossen Thor/) Abstract. Nonlinear tracking of ships in terms of way-points for route planning is discussed. A tracking control law that handles di erent curvatures of a path, e.g. combinations of straight-lines and circles, is developed by using nonlinear backstepping. Exponential stability is proven by applying Lyapunov stability theory. An extension to integral action is also made. However, only convergence is guaranteed for the case when integral action is included.
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