Tracking control of an underactuated ship
نویسندگان
چکیده
In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally -exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.
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ورودعنوان ژورنال:
- IEEE Trans. Contr. Sys. Techn.
دوره 11 شماره
صفحات -
تاریخ انتشار 2003