Technical Brief

Global Tracking Controller for Underactuated Ship via Switching Design

[+] Author and Article Information
Yuqiang Wu

Institute of Automation,
Qufu Normal University,
Qufu, Shandong 273165, China
e-mail: yu_qiang_wu@126.com

Zhongcai Zhang

School of Automation,
Southeast University,
Nanjing, Jiangsu 210096, China
e-mail: zhangzhongcai68@126.com

Na Xiao

Institute of Automation,
Qufu Normal University,
Qufu, Shandong 273165, China
e-mail: xiao.na.719@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 23, 2013; final manuscript received April 18, 2014; published online July 10, 2014. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 136(5), 054506 (Jul 10, 2014) (7 pages) Paper No: DS-13-1324; doi: 10.1115/1.4027504 History: Received August 23, 2013; Revised April 18, 2014

This paper studies the complete state tracking control of an underactuated ship with only two controls, namely, surge force and yaw moment. A novel finite-time switching controller is developed guaranteeing that the ship can track a reference trajectory generated by a virtual ship. The solution is based on the inherent cascaded interconnected structure of the ship dynamics. As opposed to the previous works, the assumptions used in this work are more relaxed in the sense that the reference surge and yaw velocities are allowed to be zero at the same time. Simulation results are given to serve the purpose of demonstrating and validating the proposed tracking methodology.

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Grahic Jump Location
Fig. 1

The body-fixed and earth-fixed coordinate systems, xyz and XYZ. The origin of the earth-fixed coordinate system is consistent with the reference position and orientation of the ship.

Grahic Jump Location
Fig. 3

Simulation results of position tracking errors

Grahic Jump Location
Fig. 2

Actual and reference position trajectories in xy plane

Grahic Jump Location
Fig. 4

Simulation result of orientation tracking error

Grahic Jump Location
Fig. 5

Time evolutions results of velocity tracking errors



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