Underactuated ship tracking control: Theory and experiments

International Journal of Control

Volumn 74, Issue 14, 2001, Pages 1435-1446

  Pettersen, Kristin Y ^a   Nijmeijer, H ^a  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; VECTORS;

CHAINED FORMED SYSTEMS;

FEEDBACK CONTROL;

EID: 0035922476     PISSN: 00207179     EISSN: None     Source Type: Journal    
DOI: 10.1080/00207170110072039     Document Type: Article

References (18)

1. Berge, S.P., Ohtsu, K., and Fossen, T.I., 1999, Nonlinear control of ships minimizing the position tracking errors. Modeling, Identification and Control, 20, 177-187.
2. Fossen, T.I., 1994, Guidance and Control of Ocean Vehicles (Chichester: Wiley).
3. Fossen, T.I., and Strand, J.-P., 1999, Passive nonlinear observer design for ships using Lyapunov methods: Experimental results with a supply vessel, Automatica, 35, 3-16.
4. Freeman, R., and Praly, L., 1998, Integrator backstepping for bounded controls and control rates. IEEE Transactions on Automatic Control, 43, 258-262.
5. Godhavn, J.-M., 1996, Nonlinear tracking of underactuated surface vessels. Proceedings of the 35th IEEE Conference on Decision and Control, Kobe, Japan, pp. 987-991.
6. Jiang, Z.-P., and Nijmeijer, H., 1999, A recursive technique for tracking control of nonholonomic systems in chained form. IEEE Transactions on Automatic Control, 44, 265-279.
7. Krstić, M., Kanellakopoulos, I., and Kokotović, P., 1995, Nonlinear and Adaptive Control Design (New York: Wiley).
8. Marino, R., and Tomei, P., 1995, Nonlinear Control Design. (Europe: Prentice Hall).
9. Murray, R.M., and Sastry, S., 1993, Nonholonomic motion planning: Steering using sinusoids. IEEE Transactions on Automatic Control, 38, 700-716.
10. Paulsen, M., and Egeland, O., 1996, Tracking controller with velocity observer and wave filter for nonlinear marine vehicles. Proceedings of the IFAC World Congress 1996, San Francisco, CA, USA.
11. Pettersen, K.Y., and Egeland, O., 1996, Exponential stabilization of an underactuated surface vessel. Proceedings of the 35th IEEE Conference on Decision and Control, Kobe, Japan, pp. 967-971.
12. Pettersen, K.Y., and Nijmeijer, H., 1998, Tracking control of an underactuated surface vessel. Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, FL, USA, pp. 4561-4566.
13. Pettersen, K.Y., and Nijmeijer, H., 1999 a, Global practical stabilization and tracking for an underactuated ship - a combined averaging and backstepping approach. Modeling, Identification and Control, 20, 189-199.
14. Pettersen, K.Y., and Nijmeijer, H., 1999 b, Output feedback tracking control for ships. In: H. Nijmeijer and T. I. Fossen (Eds) New Directions in Nonlinear Observer Design, (London: Springer).
15. Reyhanoglu, M., 1996, Control and stabilization of an underactuated surface vessel. Proceedings of the 35th IEEE Conference on Decision and Control, Kobe, Japan, pp. 2371-2376.
16. Sira-Ramirez, H., 1999, On the control of the underactuated ship: A trajectory planning approach. Proceedings of the 38th IEEE Conference on Decision and Control, Phoenix, AZ, USA, pp. 1658-1663.
17. Vik, B., and Fossen, T.I., 1997, Semi-global exponential output feedback control of ships. IEEE Transactions on Control Systems Technology, 5, 360-370.
18. Wichlund, K.Y., Sørdalen, O.J., and Egeland, O, 1995, Control of vehicles with second-order nonholonomic constraints: Underactuated vehicles. Proceedings of the Third European Control Conference, Rome, Italy, pp. 3086-3091.