Output feedback tracking of ships

M. Wondergem, A.A.J. Lefeber, K.Y. Pettersen, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

92 Citations (Scopus)
259 Downloads (Pure)


In this paper we consider output feedback tracking of ships withposition and orientation measurements only. Ship dynamics are highlynonlinear, and for tracking control, as opposed to dynamic positioning,these nonlinearities have to be taken into account in the controldesign. We propose an observer-controller scheme which takes intoaccount the complete ship dynamics, including Coriolis and centripetalforces and nonlinear damping, and results in a semi-globallyuniformly stable closed-loop system.Furthermore, a gain tuning procedure forthe observer-controller scheme is developed.Experimental results are presented where the observer-controller schemeis implemented onboard a Froude scaled 1:70 model supply ship. Theexperimentally obtained results are compared with simulation resultsunder ideal conditions and both support the theoretical results onsemi-global exponential stability of the closed-loop system.
Original languageEnglish
Pages (from-to)442-448
Number of pages7
JournalIEEE Transactions on Control Systems Technology
Issue number2
Publication statusPublished - 2011


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