Global stabilisation and tracking control of underactuated surface vessels

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Global stabilisation and tracking control of underactuated surface vessels

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In this study, the authors solve the problem of uniform global asymptotic stabilisation and global exponential tracking for an underactuated ship with only two propellers. A unified backstepping design methodology is proposed to tackle both the stabilisation and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple. The study also addresses the tracking problem with constant bias of environmental disturbances. Simulation results are provided to validate our theoretical results.

Inspec keywords: control system synthesis; asymptotic stability; propellers; ships

Other keywords: underactuated ship; global exponential tracking; controller design; global asymptotic stabilisation; propellers; backstepping design; underactuated surface vessels; tracking control

Subjects: Control system analysis and synthesis methods; Stability in control theory; Marine system control

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