Point-to-point navigation of underactuated ships
Point-to-point navigation of underactuated ships
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DOI：
10.1016/j.automatica.2008.08.003
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发表时间：
2008-12-01
期刊：
影响因子：
6.4
通讯作者：
Lim, Yong-Kon
中科院分区：
文献类型：
--
作者：
Li, Ji-Hong;Lee, Pan-Mook;Lim, Yong-Kon
本文考虑了仅可用浪涌力和偏航力矩的欠驱动船舶的点对点导航。一般来说，船舶的横摇运动满足用李亚普诺夫函数表示的被动有界性质。在这种考虑下，提出了一种简洁的非线性方案来保证闭环系统一致最终有界（UUB）。还进行了数值模拟研究以说明所提出方案的有效性。 (C) 2008 Elsevier Ltd. 保留所有权利。
This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship's sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately bounded (UUB). A numerical simulation study is also performed to illustrate the effectiveness of the proposed scheme. (C) 2008 Elsevier Ltd. All rights reserved.