Path following for underactuated marine craft using line of sight algorithm

J. Ghommem, F. Mnif, N. Derbel

Research output: Contribution to conferencePaperpeer-review


This work provides algorithms for underactuated ship path guidance using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The control laws in surge and yaw are derived using backstepping. This results in a dynamic feedback controller where the dynamics of the uncontrolled sway mode enters the yaw control law. Uniform Global Asymptotic Stability (UGAS) is proven for the tracking error dynamics in surge and yaw while the controller dynamics is bounded. To show the effectiveness of the controller and guidance systems, we simulate our algorithm using Simulink on a marine craft model.

Original languageEnglish
Number of pages7
Publication statusPublished - 2005
Externally publishedYes
Event7th Annual Middle Eastern Simulation Multiconference, MESM 2005 - Porto, Portugal
Duration: Oct 24 2005Oct 26 2005


Other7th Annual Middle Eastern Simulation Multiconference, MESM 2005


  • Global uniform asymptotic convergence
  • Line of sight
  • Nonlinear control
  • Underactuated marine crafty backstepping control

ASJC Scopus subject areas

  • Modelling and Simulation

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