This paper considers the path following problem of underactuated marine vessels whose control imposes a challenging problem due to its under-actuated nature. The recently developed Dynamic Surface Control (DSC) design method is applied to overcome the problem of explosion of terms associated with the backstepping design procedure. It is shown that the exponential stability of the resulting closed loop dynamics can be proved using Lyapunov direct method. The feasibility of the proposed Dynamic Surface Controller is evaluated analytically and verified through computer simulations and experiments.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path following control of underactuated marine vessels via dynamic surface control technique


    Contributors:
    Oh, So-Ryeok (author) / Sun, Jing (author) / Li, Zhen (author)


    Publication date :

    2009


    Size :

    8 Seiten, 7 Bilder, 1 Tabelle, 13 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    RBFNN-Based Path Following Adaptive Control for Underactuated Surface Vessels

    Meng, Wei / Guo, Chen | British Library Conference Proceedings | 2015



    LVS guidance based output-feedback path-following control for underactuated surface vessels

    Chen, Zheng / Min, Boxu / Xie, Hongbin et al. | British Library Conference Proceedings | 2021


    Straight line path following for formations of underactuated surface vessels

    Pavlov, Alexey / Borhaug, Even / Panteley, Elena et al. | Tema Archive | 2009