Robust adaptive path following of underactuated ships
type: Item
instance of: scholarly article
title: Robust adaptive path following of underactuated ships
zbMATH Open document ID: 1096.93021
published in: Automatica
publication date: 2004-11-23T00:00:00Z
review text: The authors present a methodology to design a controller that forces an underactuated ship with unknown parameters to follow a given path under environmental disturbances induced by waves, wind and ocean-current. The mass and damping matrices are supposed to be diagonal. The proposed controller is designed using the direct Lyapunov method and the backstepping technique. The developed control strategy is extendible to parking and point-to-point navigation. Numerical simulations support the obtained results.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C73
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B51
zbMATH DE Number: 2117907
zbMATH Keywords: path following
zbMATH Keywords: parking
zbMATH Keywords: point-to-point navigation
zbMATH Keywords: underactuated ship
zbMATH Keywords: cascade system
zbMATH Keywords: nonlinear control
zbMATH Keywords: robustness
zbMATH Keywords: adaptation
zbMATH Keywords: robust tracking
zbMATH Keywords: backstepping
author: Khac Duc Do
author: Zhong-Ping Jiang
author: Jie Pan
reviewed by: Yuri N. Sankin
MaRDI profile type: Publication
full work available at URL: j.automatica.2004.01.021
OpenAlex ID: W2148821382
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DOI: 10.1016/J.AUTOMATICA.2004.01.021
description: scientific article; zbMATH DE number 2117907