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)

Abstract

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
Volume11
Issue number1
DOIs
Publication statusPublished - 2003

Fingerprint Dive into the research topics of 'Tracking control of an underactuated ship'. Together they form a unique fingerprint.

Cite this