Point-to-point navigation of underactuated ships
نویسندگان
چکیده
This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship’s sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately bounded (UUB). A numerical simulation study is also performed to illustrate the effectiveness of the proposed scheme. © 2008 Elsevier Ltd. All rights reserved.
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ورودعنوان ژورنال:
- Automatica
دوره 44 شماره
صفحات -
تاریخ انتشار 2008