Tracking control of an underactuated ship

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

Research output: Contribution to journalArticleAcademicpeer-review

297 Citations (Scopus)
4 Downloads (Pure)


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.
Original languageEnglish
Pages (from-to)52-61
JournalIEEE Transactions on Control Systems Technology
Issue number1
Publication statusPublished - 2003

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