Semi‐global output feedback tracking control for fully actuated ships |
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| Authors: | Jialu Du Shuanghe Yu Yongsheng Zhao Xinghuo Yu |
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| Affiliation: | 1. School of Information and Science Technology, Dalian Maritime University, Dalian, Liaoning, China;2. School of Electrical and Computer Engineering, RMIT University, Australia |
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| Abstract: | An output feedback trajectory tracking controller for a kind of 3 degrees of freedom (DOF) ship motion nonlinear model is designed. The closed‐loop control system is proven to be uniformly semi‐globally exponential stable with a separate stability result for the observer by applying nonlinear cascaded system theory. Simulation results on a model ship, Cybership II, are presented to validate the proposed control scheme. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society |
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| Keywords: | Output feedback tacking control nonlinear observer cascaded systems ships |
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