Global tracking for underactuated ships with bounded feedback controllers

Abstract : 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. It has been designed using a 3 degrees 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.
Document type :
Journal articles
Complete list of metadatas

https://hal.archives-ouvertes.fr/hal-02320830
Contributor : Delphine Le Piolet <>
Submitted on : Saturday, October 19, 2019 - 3:41:20 PM
Last modification on : Wednesday, October 30, 2019 - 9:46:15 AM

Links full text

Identifiers

Citation

Mohamed Harmouche, Salah Laghrouche, Yacine Chitour. Global tracking for underactuated ships with bounded feedback controllers. International Journal of Control, Taylor & Francis, 2014, 87 (10), pp.2035-2043. ⟨10.1080/00207179.2014.898188⟩. ⟨hal-02320830⟩

Share

Metrics

Record views

22