Path following for underactuated marine craft using line of sight algorithm

J. Ghommem; F. Mnif; N. Derbel

Path following for underactuated marine craft using line of sight algorithm

J. Ghommem, F. Mnif, N. Derbel

Research output: Contribution to conference › Paper › peer-review

Abstract

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 language	English
Pages	20-26
Number of pages	7
Publication status	Published - 2005
Externally published	Yes
Event	7th Annual Middle Eastern Simulation Multiconference, MESM 2005 - Porto, Portugal Duration: Oct 24 2005 → Oct 26 2005

Other

Other	7th Annual Middle Eastern Simulation Multiconference, MESM 2005
Country/Territory	Portugal
City	Porto
Period	10/24/05 → 10/26/05

Keywords

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

ASJC Scopus subject areas

Modelling and Simulation

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

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title = "Path following for underactuated marine craft using line of sight algorithm",

abstract = "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.",

keywords = "Global uniform asymptotic convergence, Line of sight, Nonlinear control, Underactuated marine crafty backstepping control",

author = "J. Ghommem and F. Mnif and N. Derbel",

year = "2005",

language = "English",

pages = "20--26",

note = "7th Annual Middle Eastern Simulation Multiconference, MESM 2005 ; Conference date: 24-10-2005 Through 26-10-2005",

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TY - CONF

T1 - Path following for underactuated marine craft using line of sight algorithm

AU - Ghommem, J.

AU - Mnif, F.

AU - Derbel, N.

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

KW - Global uniform asymptotic convergence

KW - Line of sight

KW - Nonlinear control

KW - Underactuated marine crafty backstepping control

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M3 - Paper

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T2 - 7th Annual Middle Eastern Simulation Multiconference, MESM 2005

Y2 - 24 October 2005 through 26 October 2005

ER -

Path following for underactuated marine craft using line of sight algorithm

Abstract

Other

Keywords

ASJC Scopus subject areas

UN SDGs

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