Global tracking for an underactuated ships with bounded feedback controllers

Salah Laghrouche (1) , Mohamed Harmouche (1) , Yacine Chitour (2)

1 SET - Laboratoire Systèmes et Transports
2 L2S - Laboratoire des signaux et systèmes

In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main feature of our controller is the boundedness of the control inputs, which is an essential consideration in real life. In absence of velocity measurements, the controller works and remains stable with observers and can be used as an output feedback controller. Simulation results demonstrate the effectiveness of this method.

Mots clés: underactuated surface marine vessels; Global tracking; bounded feedback; Lyapunov function; underactuated surface marine vessels.

Domaines: Automatique

Salah Laghrouche, Mohamed Harmouche, Yacine Chitour. Global tracking for an underactuated ships with bounded feedback controllers. 2012. ⟨hal-00739112⟩