Robust adaptive path following of underactuated ships |
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Authors: | KD Do [Author Vitae] J Pan [Author Vitae] |
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Affiliation: | a Department of Mechanical and Materials Engineering, The University of Western Australia, Nedlands, WA 6907, Australia b Department of Electrical and Computer Engineering, Polytechnic University, Brooklyn, NY 11201, USA |
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Abstract: | Robust path following is an issue of vital practical importance to the ship industry. In this paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controller is scalable and is designed using Lyapunov's direct method and the popular backstepping and parameter projection techniques. Along the way of proving closed-loop stability, we obtain a new stability result for nonlinear cascade systems with non-vanishing uncertainties. Interestingly, it is shown in this paper that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations using the real data of a monohull ship are provided to illustrate the effectiveness of the proposed methodology for path following of underactuated ships. |
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Keywords: | Path following Parking Point-to-point navigation Underactuated ship Cascade system Nonlinear control Robustness Adaptation |
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