Underactuated ship tracking control: Theory and experiments

DOI10.1080/00207170110072039zbMath1029.93048OpenAlexW2101876384MaRDI QIDQ3151475

Kristin Ytterstad Pettersen, Henk Nijmeijer

Publication date: 16 October 2002

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170110072039

zbMATH Keywords

trackingstability analysisnonlinear systemship controltriangular formchained form systemsunderactuated problem

Mathematics Subject Classification ID

Application models in control theory (93C95) Design techniques (robust design, computer-aided design, etc.) (93B51)

Related Items (30)

Robust adaptive path following of underactuated ships ⋮ Robust global stabilization of underactuated ships on a linear course: State and output feedback ⋮ Trajectory tracking sliding mode control of underactuated AUVs ⋮ Global \(\kappa\)-exponential way-point maneuvering of ships: theory and experiments ⋮ Nonlinear trajectory tracking controller for a class of robotic vehicles ⋮ Global tracking for underactuated ships with bounded feedback controllers ⋮ Global robust adaptive path following of underactuated ships ⋮ Global stable tracking control of underactuated ships with input saturation ⋮ 3D trajectory tracking of underactuated non-minimum phase underwater vehicles ⋮ Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties ⋮ Robust adaptive tracking control of an underactuated ship with guaranteed transient performance ⋮ A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle. ⋮ Real-time hybrid design of tracking control and obstacle avoidance for underactuated underwater vehicles ⋮ Nonlinear control for trajectory tracking of a nonholonomic RC-hovercraft with discrete inputs ⋮ Stabilization of relative equilibria for underactuated systems on Riemannian manifolds ⋮ Non-linear model predictive formation control for groups of autonomous surface vessels ⋮ Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices ⋮ High-order sufficient conditions for configuration tracking of affine connection control systems ⋮ Global partial-state feedback and output-feedback tracking controllers for underactuated ships ⋮ Path tracking of underactuated ships with general form of dynamics ⋮ Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits ⋮ Learning from adaptive neural network output feedback control of uncertain ocean surface ship dynamics ⋮ Further results on global stabilisation and tracking control for underactuated surface vessels with non-diagonal inertia and damping matrices ⋮ A backstepping controller for path-tracking of an underactuated autonomous airship ⋮ Global trajectory tracking control of underactuated surface vessels with non-diagonal inertial and damping matrices ⋮ Point-to-point navigation of underactuated ships ⋮ Nonlinear model predictive control with terminal invariant manifolds for stabilization of underactuated surface vessel ⋮ A dynamic model and a robust controller for a fully-actuated marine surface vessel ⋮ Nonlinear dynamic model identification methodology for real robotic surface vessels ⋮ Universal controllers for stabilization and tracking of underactuated ships.

This page was built for publication: Underactuated ship tracking control: Theory and experiments