Global stable tracking control of underactuated ships with input saturation |
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| Affiliation: | 1. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore;2. School of Automation Science and Electrical Engineering, BeiHang University, Beijing, 100191, China;3. School of Automation, Chongqing University, Chongqing, 400044, China;1. School of Electrical and Electronic Engineering, Nanyang Technological University, 639798, Singapore;2. Department of Automation, Tsinghua University, Beijing, 100084, China;3. School of Automation, Chongqing University, Chongqing, 400044, China |
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| 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. |
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| Keywords: | Tracking control Underactuated ships Input saturation |
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