Way-point tracking control of ships

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

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    203 Citations (Scopus)
    92 Downloads (Pure)


    The paper considers way-point tracking control of ships using yaw torque control. A full state feedback control law is developed using a cascaded approach, and proved to globally asymptotically stabilize the heading and the cross-track error of the ship. Simulation results are presented.
    Original languageEnglish
    Title of host publicationProceedings of the 40th IEEE conference on decision and control : December 4-7, Orlando, Florida, USA. Vol. 1
    Place of PublicationPiscataway
    PublisherInstitute of Electrical and Electronics Engineers
    ISBN (Print)0-7803-7061-9
    Publication statusPublished - 2001


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