NDLI: Robust adaptive path following of underactuated ships

Content Provider	IEEE Xplore Digital Library
Author	Do, K.D. Jiang, Z.P. Pan, J.
Copyright Year	2002
Description	Author affiliation: Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia (Do, K.D.)
Abstract	Robust path following is an issue of vital practical importance to the ship industry. In the paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controller is scalable and is designed using Lyapunov's direct method and the popular backstepping and parameter projection techniques. Whilst proving closed-loop stability, we obtain a new stability result for nonlinear cascade systems with non-vanishing uncertainties. It is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation.
Sponsorship	IEEE Control Syst. Soc
Starting Page	3243
Ending Page	3248
File Size	1839169
Page Count	6
File Format	PDF
ISBN	0780375165
ISSN	01912216
DOI	10.1109/CDC.2002.1184371
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Marine vehicles Stability Shipbuilding industry Robust control Adaptive control Surface waves Sea surface Backstepping Uncertainty
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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