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Research Papers

Global Path-Following Control of Stochastic Underactuated Ships: A Level Curve Approach

[+] Author and Article Information
K. D. Do

Department of Mechanical Engineering,
Curtin University,
Kent Street,
Bentley, WA 6102, Australia
e-mail: duc@curtin.edu.au

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 15, 2014; final manuscript received February 17, 2015; published online March 26, 2015. Assoc. Editor: Hashem Ashrafiuon.

J. Dyn. Sys., Meas., Control 137(7), 071010 (Jul 01, 2015) (10 pages) Paper No: DS-14-1335; doi: 10.1115/1.4029885 History: Received August 15, 2014; Revised February 17, 2015; Online March 26, 2015

A level curve approach is introduced to design global path-following controllers for an underactuated surface ship. The approach is based on the observation: if the position of the ship satisfies the equation of the reference path, then the ship will be on the path. Thus, the controllers are designed based on Lyapunov's direct and backstepping methods to force the position of the ship to satisfy the equation of the path and to move along the path tangentially. The approach does not require computation of the position from the ship to the path. Weak and strong nonlinear Lyapunov functions are introduced in the control design to overcome difficulties caused by underactuation and to guarantee boundedness of the sway velocity. Simulations are included to illustrate the effectiveness of the proposed results.

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Figures

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Fig. 1

Coordinate systems

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Fig. 2

Illustration of the level curve approach

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Fig. 3

Simulation results with accurate system parameters

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Fig. 4

Simulation results with system parameter uncertainties

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