Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5002377 | IFAC-PapersOnLine | 2016 | 6 Pages |
Abstract
This paper investigates the problem of making an under actuated marine vessel follow an arbitrary differentiable Jordan curve. A solution is proposed which relies on a hierarchical control methodology involving the simultaneous stabilization of two nested sets, and results in a smooth, static, and time-invariant feedback. The methodology in question effectively reduces the control problem to one of path following for a kinematic point-mass. It is shown that as long as the curvature of the path is smaller than a quantity dependent on the mass and damping parameters of the ship, path following is achieved with uniformly bounded sway speed.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
D.J.W. Belleter, C. Paliotta, M. Maggiore, K.Y. Pettersen,