Name
Abstract | ||
|---|---|---|
In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1016/j.sysconle.2015.07.002 | Systems & Control Letters |
Keywords | Field | DocType |
Tracking control,Underactuated ships,Input saturation | Backstepping,Torque,Aircraft principal axes,Division (mathematics),Control theory,Control engineering,Cascade,Surge,Underactuation,Mathematics,Tracking error | Journal |
Volume | ISSN | Citations |
85 | 0167-6911 | 19 |
PageRank | References | Authors |
0.71 | 9 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jiangshuai Huang | 1 | 386 | 18.80 |
| Changyun Wen | 2 | 3686 | 284.86 |
| Wei Wang | 3 | 658 | 29.49 |
| Yong-Duan Song | 4 | 1949 | 108.61 |