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Point-to-point navigation of underactuated ships
- Authors
- Li, Ji-Hong; Lee, Pan-Mook; Jun, Bong-Huan; Lim, Yong-Kon
- Issue Date
- 12월-2008
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Keywords
- Underactuated ships; Point-to-point navigation; Path tracking; Path following; Nonlinear control
- Citation
- AUTOMATICA, v.44, no.12, pp 3201 - 3205
- Pages
- 5
- Journal Title
- AUTOMATICA
- Volume
- 44
- Number
- 12
- Start Page
- 3201
- End Page
- 3205
- ISSN
- 0005-1098
1873-2836
- Abstract
- This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship's sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately bounded (UUB). A numerical simulation study is also performed to illustrate the effectiveness of the proposed scheme. (C) 2008 Elsevier Ltd. All rights reserved.
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