Global κ-exponential way-point manoeuvering of ships

被引：29

作者：

Fredriksen, E ^{[1
]}

Pettersen, KY ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, NO-7491 Trondheim, Norway

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

D O I：

10.1109/CDC.2004.1429660

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 way-point manoeuvering in three degrees of freedom (surge, sway and yaw). A line-of-sight motivated control law that globally kappa-exponentially stabilizes an underactuated ship is derived using output redefinition and cascaded systems theory. The control law development is based on a general nonlinear ship model with surge propeller force and rudder moment as control inputs. Simulation results on a full scale model of a supply vessel are presented.

引用

页码：5360 / 5367

页数：8

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