TRACKING CONTROL OF AN UNDERACTUATED AUTONOMOUS SHIP

Document Type : Original Article

Authors

1 Associate Professor, Laboratory of Mathematical Engineering (LIM), Tunisia Polytechnic School, BP 743, 2078 La Marsa, Tunisia.

2 Professor, 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

Files

Share

How to cite

Statistics