Robust adaptive path following of underactuated ships

被引：293
|
作者：
Do, KD
Jiang, ZP
Pan, J
机构：
[1] Polytech Univ, Dept Elect & Comp Engn, Brooklyn, NY 11201 USA
[2] Univ Western Australia, Dept Mech & Mat Engn, Nedlands, WA 6907, Australia
来源：
AUTOMATICA | 2004年 / 40卷 / 06期
基金：
澳大利亚研究理事会; 美国国家科学基金会;
关键词：
path following; parking; point-to-point navigation; underactuated ship; cascade system; nonlinear control; robustness; adaptation;
D O I：
10.1016/j.automatica.2004.01.021
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Robust path following is an issue of vital practical importance to the ship industry. In this paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controller is scalable and is designed using Lyapunov's direct method and the popular backstepping and parameter projection techniques. Along the way of proving closed-loop stability, we obtain a new stability result for nonlinear cascade systems with non-vanishing uncertainties. Interestingly, it is shown in this paper that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations using the real data of a monohull ship are provided to illustrate the effectiveness of the proposed methodology for path following of underactuated ships. (C) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码：929 / 944
页数：16
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