Nonlinear control of ships minimizing the position tracking errors

Modeling, Identification and Control

Volumn 20, Issue 3, 1999, Pages 177-187

  Berge, Svein P ^a   Ohtsu, Kohei ^b   Fossen, Thor I ^a  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^b TOKYO UNIVERSITY OF MARINE SCIENCE AND TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; CONVERGENCE OF NUMERICAL METHODS; ERROR ANALYSIS; LINEARIZATION; LYAPUNOV METHODS; SHIPS; STATE FEEDBACK; SYSTEM STABILITY; TRACKING (POSITION);

VIRTUAL REFERENCE POINT (VRP);

NONLINEAR CONTROL SYSTEMS;

EID: 0033366334     PISSN: 03327353     EISSN: None     Source Type: Journal    
DOI: 10.4173/mic.1999.3.3     Document Type: Article

References (9)

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2. FOSSEN, T. I. and STRAND, J. P. (1999). Passive nonlinear observer design for ships using Lyapunov methods: experimental results with a supply vessel. Automatica.
3. FOSSEN, T. I., GODHAVN, J.-M., BERGE, S. P. and LINDEGAARD, K.-P. (1998). Nonlinear control of underactuated ships with forward speed compensation. Proc. of the IFAC NOLCOS'98.
4. GODHAVN, J.-M. (1997). Topics in Nonlinear Motion Control: Nonholonomic, Underactuated and Hybrid Systems. PhD thesis. Dep. of Eng. Cybernetics, NTNU, Trondheim.
5. GODHAVN, J.-M., FOSSEN, T. I. and BERGE, S. P. (1998). Nonlinear and adaptive backstepping designs for tracking control of ships. International Journal of Adaptive Control and Signal Processing.
6. HOLZHÜTER, T. and SCHULTZE, R. (1996). Operating experience with a high-precision track controller for commercial ships. Control Eng. Practice, CEP-4(3), 343-350.
7. LINDEGAARD, K.-P. (1997). Nonlinear tracking control and station-keeping of underactuated ships. Master's thesis. Dep. of Eng. Cybernetics, NTNU, Trondheim.
8. MEGRETSKI, A. and RANTZER, A. (1997). System analysis via integral quadratic constraints. IEEE Trans. on Control System Technology, TCST-42(6), 93-106.
9. OHTSU, K., SHOJI, K. and OKAZAKI, T. (1996). Minimum-time maneuvering of a ship, with wind disturbances. Control Eng. Practice, CEP-4(3), 385-392.