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37086

TRACKING CONTROL OF AN UNDERACTUATED AUTONOMOUS SHIP

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Last updated: 24 Dec 2024

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Abstract

ABSTRACT
In this paper, we will construct a control that forces position and orientation of the
underactuated autonomous ship moves according to a reference feasible trajectory.
To achieve this objective, we use as a design tool of puts the Backtepping
methodology and Lyapunov function. Experimental results are given to show the
tracking performance. We will illustrate trajectories with time varying velocity
(sinusoidal path). Then, we will test the tracking robustness in presence of drag
forces disturbances.

DOI

10.21608/amme.2012.37086

Keywords

Underactuated Ship, Tracking control, Backstepping Method, Lyapunov Theorem

Authors

First Name

S.

Last Name

Samaali

MiddleName

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Affiliation

Associate Professor, Laboratory of Mathematical Engineering (LIM), Tunisia Polytechnic School, BP 743, 2078 La Marsa, Tunisia.

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Orcid

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First Name

A.

Last Name

Abichou

MiddleName

-

Affiliation

Professor, Laboratory of Mathematical Engineering (LIM), Tunisia Polytechnic School, BP 743, 2078 La Marsa, Tunisia.

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Volume

15

Article Issue

15th International Conference on Applied Mechanics and Mechanical Engineering.

Related Issue

5891

Issue Date

2012-05-01

Receive Date

2019-06-25

Publish Date

2012-05-01

Page Start

1

Page End

19

Print ISSN

2636-4352

Online ISSN

2636-4360

Article File

AMME_Volume 15_Issue 15th International Conference on Applied Mechanics and Mech….pdf

PDF . 889.0kB

Link

https://amme.journals.ekb.eg/article_37086.html

Detail API

https://amme.journals.ekb.eg/service?article_code=37086

Order

89

Type

Original Article

Type Code

831

Publication Type

Journal

Publication Title

The International Conference on Applied Mechanics and Mechanical Engineering

Publication Link

https://amme.journals.ekb.eg/

MainTitle

TRACKING CONTROL OF AN UNDERACTUATED AUTONOMOUS SHIP

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Article

Created At

22 Jan 2023