Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels

Automatica

Volumn 45, Issue 7, 2009, Pages 1649-1658

  Li, Zhen ^a   Sun, Jing ^a   Oh, Soryeok ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Backstepping; Marine surface vessels; Nonlinear control; Path following; Ship control

Indexed keywords

ANALYSIS AND EVALUATION; CONTROL DESIGN; CONTROLLER PERFORMANCE; DESIGN PARAMETERS; DESIGN PROCEDURE; ERROR DYNAMICS; EXPERIMENTAL VALIDATIONS; FOUR DEGREE OF FREEDOM; FRENET EQUATIONS; MARINE SURFACE VESSELS; MEASUREMENT NOISE; MODEL UNCERTAINTIES; NON-LINEAR CONTROLLERS; NON-LINEARITY; NONLINEAR CONTROL; NONLINEAR CONTROLLER DESIGN]; NONLINEAR SURFACE; PATH FOLLOWING; PATH FOLLOWING CONTROL; PATH FOLLOWING CONTROLLER; RATE LIMIT; SHIP CONTROL; SHIP DYNAMICS; SIMULATION RESULT;

DESIGN; DIFFERENTIAL EQUATIONS; DYNAMICS; FEEDBACK; FEEDBACK LINEARIZATION; LYAPUNOV FUNCTIONS; NONLINEAR EQUATIONS; RUDDERS; SHIP MODELS; UNCERTAINTY ANALYSIS;

CONTROLLERS;

EID: 67349145960     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2009.03.010     Document Type: Article

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