TRACKING CONTROL OF AN UNDERACTUATED AUTONOMOUS SHIP | ||||
| The International Conference on Applied Mechanics and Mechanical Engineering | ||||
| Article 89, Volume 15, 15th International Conference on Applied Mechanics and Mechanical Engineering., May 2012, Page 1-19 PDF (868.14 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/amme.2012.37086 | ||||
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| Authors | ||||
| S. Samaali1; A. Abichou2 | ||||
| 1Associate Professor, Laboratory of Mathematical Engineering (LIM), Tunisia Polytechnic School, BP 743, 2078 La Marsa, Tunisia. | ||||
| 2Professor, Laboratory of Mathematical Engineering (LIM), Tunisia Polytechnic School, BP 743, 2078 La Marsa, Tunisia. | ||||
| 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. | ||||
| Keywords | ||||
| Underactuated Ship; Tracking control; Backstepping Method; Lyapunov Theorem | ||||
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