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Robust Tracking Control and Stabilization of Underactuated Ships
Author(s) -
Li JiaWang
Publication year - 2018
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1714
Subject(s) - underactuation , control theory (sociology) , convergence (economics) , parametric statistics , tracking error , tracking (education) , scheme (mathematics) , transformation (genetics) , bounded function , control (management) , computer science , control engineering , robust control , engineering , mathematics , control system , artificial intelligence , psychology , mathematical analysis , pedagogy , biochemistry , statistics , chemistry , electrical engineering , economics , gene , economic growth
This paper addresses the problem of tracking control and stabilization for underactuated ships subjected to parametric modeling uncertainties. By designing a novel error state transformation scheme, some auxiliary variables are provided to be regarded as additional virtual control signals, while these variables can change their structures for different reference trajectories. Then, a robust control scheme is presented to achieve practical convergence of tracking errors and the ship's velocities to bounded neighborhoods of the origin. Simulation results are performed to illustrate the effectiveness of the proposed control scheme.