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Straight-Line Path Following of Asymmetric Underactuated Ships
Tao Dayong 1 #,Xie Wenjing 2,Ma Baoli 2 *
1.School of Automation Science and Electrical Engineering, Beihang University
2.School of Automation Science and Electrical Engineering, Beihang University, Beijing
*Correspondence author
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Funding: National Nature Science Foundation（No.No. 60874012）
Opened online: 2 November 2011
Accepted by: none
Citation: Tao Dayong,Xie Wenjing,Ma Baoli.Straight-Line Path Following of Asymmetric Underactuated Ships[OL]. [ 2 November 2011] http://en.paper.edu.cn/en_releasepaper/content/4446542
 
 
For the non-linear model of an asymmetric underactuated surface ship with non-diagonal inertia and damping matrices, the straight-line path following control problem is investigated in this work. First, the error model is converted to an advantageous form by novel state and input transformations; the direct Lyapunov method and back-stepping approach are then used to derive a state feedback control law. The proposed control law guarantees global asymptotic convergence of the ship to the desired straight-line path with a desired surge speed which is supposed to be bounded and not convergent to zero. Simulation results show the effectiveness of proposed control law.
Keywords:Underactuated surface ships; Non-diagonal inertia/damping matrices; Straight-line path following; State transformation; Back-stepping
 
 
 

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