Point-to-point navigation of underactuated ships

被引：284

作者：

Li, Ji-Hong ^{[1
]}

Lee, Pan-Mook ^{[1
]}

Jun, Bong-Huan ^{[1
]}

Lim, Yong-Kon ^{[1
]}

机构：

[1] KORDI, Maritime & Ocean Engn Res Inst, Taejon 305343, South Korea

来源：

AUTOMATICA | 2008年 / 44卷 / 12期

关键词：

Underactuated ships; Point-to-point navigation; Path tracking; Path following; Nonlinear control;

D O I：

10.1016/j.automatica.2008.08.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：3201 / 3205

页数：5

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