New cascade approach for global /spl kappa/-exponential tracking of underactuated ships

@article{Lee2004NewCA,
  title={New cascade approach for global /spl kappa/-exponential tracking of underactuated ships},
  author={Ti-Chung Lee and Zhong-Ping Jiang},
  journal={IEEE Transactions on Automatic Control},
  year={2004},
  volume={49},
  pages={2297-2303}
}
This note investigates the fast tracking control problem of underactuated ships via persistent excitation (PE) conditions. By combining a novel transformation with the computed torque method, a decoupling controller related to the surge force is given first to decompose the error model into two cascade subsystems. Then, a stabilizing controller involving the yaw moment is designed. With the help of the proposed cascaded structure, a weaker PE condition than those given in past literature can be… CONTINUE READING
9 Citations
28 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-9 of 9 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 28 references

Tracking Control of Nonlinear Mechanical Systems

  • E. Lefeber
  • Ph.D. dissertation, Univ. Twente, Twente, The…
  • 2000
Highly Influential
7 Excerpts

Similar Papers

Loading similar papers…