Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 11, Issue 1, Pages 52-61Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2002.806465
Keywords
cascade control; marine vehicle control; nonlinear systems; tracking
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In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally K-exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.
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