Abstract
In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.
| Original language | English |
|---|---|
| Pages (from-to) | 1-7 |
| Number of pages | 7 |
| Journal | Systems and Control Letters |
| Volume | 85 |
| Early online date | 28 Aug 2015 |
| DOIs | |
| Publication status | Published - Nov 2015 |
| Externally published | Yes |
Funding
This work has been supported in part by the National Basic Research Program of China (973 Program No. 2012CB215200 and No. 2014CB249200) and by the National Natural Science Foundation of China (Grant Nos. 61203068 and 61134001) and in part by the Republic of Singapore’s National Research Foundation through the grant “ NRF2013EWT-EIRP001-025 ” under Energy Innovation Research Programme.
Keywords
- Input saturation
- Tracking control
- Underactuated ships