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Robust global stabilization of underactuated ships on a linear course: State and output feedback. (English) Zbl 1029.93047

The control of the heading angle by a rudder and a line of sign algorithm, which is used to steer a surface ship from one point to the other point on a straight line, does not impose on minimizing the lateral distance and sway velocity. So the shortest traveling distance is not achieved. But to save traveling time, distance and fuel, ship tracking along a linear course is an important practice. This aim may be achieved only by means of tracking control of an underactuated surface ship with measurements of all states on a linear course.
Here, the authors develop an approach that forces underactuated ships to globally ultimately track a straight line under environmental disturbances induced by wave, wind and ocean current. The nonlinear mathematical models considered include sway displacement, sway velocity, yaw angle, yaw velocity and forward speed. The yaw angle and sway displacement are assumed to be measured by using a gyro compass and worldwide satellite navigation. The stability is investigated by means of a Lyapunov stability technique using the comparison principle. The modeling results are represented.

MSC:

93C95 Application models in control theory
93B51 Design techniques (robust design, computer-aided design, etc.)
93D21 Adaptive or robust stabilization
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