“Nonlinear control of ships minimizing the position tracking errors”

Authors: Svein P. Berge, Kohei Ohtsu and Thor I. Fossen,
Affiliation: NTNU, Department of Engineering Cybernetics and Tokyo University of Mercantile Marine
Reference: 1999, Vol 20, No 3, pp. 177-187.

Keywords: Nonlinear control, Lyapunov stability, ship control, marine systems

Abstract: In this paper, a nonlinear tracking controller with integral action for ships is presented. The controller is based on state feedback linearization. Exponential convergence of the vessel-fixed position and velocity errors are proven by using Lyapunov stability theory. Since we only have two control devices, a rudder and a propeller, we choose to control the longship and the sideship position errors to zero while the heading is stabilized indirectly. A Virtual Reference Point (VRP) is defined at the bow or ahead of the ship. The VRP is used for tracking control. It is shown that the distance from the center of rotation to the VRP will influence on the stability of the zero dynamics. By selecting the VRP at the bow or even ahead of the bow, the damping in yaw can be increased and the zero dynamics is stabilized. Hence, the heading angle will be less sensitive to wind, currents and waves. The control law is simulated by using a nonlinear model of the Japanese training ship Shiojimaru with excellent results. Wind forces are added to demonstrate the robustness and performance of the integral controller.

PDF PDF (1388 Kb)        DOI: 10.4173/mic.1999.3.3

DOI forward links to this article:
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  title={{Nonlinear control of ships minimizing the position tracking errors}},
  author={Berge, Svein P. and Ohtsu, Kohei and Fossen, Thor I.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}