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LI Tie-shan, YANG Yan-sheng, ZHENG Yun-feng. Nonlinear control of underactuated ships[J]. Journal of Traffic and Transportation Engineering, 2003, 3(4): 39-43.
Citation: LI Tie-shan, YANG Yan-sheng, ZHENG Yun-feng. Nonlinear control of underactuated ships[J]. Journal of Traffic and Transportation Engineering, 2003, 3(4): 39-43.
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Nonlinear control of underactuated ships

  • School of Navigation, Dalian Maritime University, Dalian 116026, China

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  • Author Bio:

    LI Tie-shan(1968-), male, doctoral student, 86-411-4729527, yb8188@sohu.com

  • Received Date: 2003-06-16
  • Publish Date: 2003-04-25
    Abstract
  • The underactuated system and its meaning were introduced. The automatic berthing control model and straight-line tracking control model for underactuated surface vessels were de-veloped. A state feedback controller that forces an underactuated ship to asymptolically track a straight-line was presented using the input-output linearization technique. This controller was ap-plied to an example, its control was simulated with Matlab software. The results show that this control strategy can resolve the control problems of underactuated ships.

     

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    • References(14)
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