Journal
AUTOMATICA
Volume 44, Issue 12, Pages 3201-3205Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2008.08.003
Keywords
Underactuated ships; Point-to-point navigation; Path tracking; Path following; Nonlinear control
Funding
- Ministry Maritime Affairs and Fisheries in Korea [PM0142A]
- KORDI [PE0116A]
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This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship's sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately bounded (UUB). A numerical simulation study is also performed to illustrate the effectiveness of the proposed scheme. (C) 2008 Elsevier Ltd. All rights reserved.
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