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General Information
Prof. Wael Badawy
Department of Computing and Information Systems Umm Al Qura University, Canada
I'm happy to take on the position of editor in chief of IJCTE. We encourage authors to submit papers concerning any branch of computer theory and engineering.
IJCTE 2015 Vol.7(6): 469-475 ISSN: 1793-8201
DOI: 10.7763/IJCTE.2015.V7.1004

Controller Design for Tracking Control of an Under-Actuated Surface Ship

Werneld E. Ngongi and Jialu Du
Abstract—In this paper an output feedback controller for tracking control of surface ships based on Euler-Lagrange equations has been proposed. It has been assumed that a surface ship is moving in a horizontal plane and under-actuated in sway direction. The change of coordinate’s method is applied to overcome the third order component that arises in the Lyapunov function derivatives due to Coriolis and centripetal forces term. The design of the controller is based on the backstepping control technique and Lyapunov stability theory. Firstly, the observer is derived using the change of coordinate method. Next, backstepping control technique is employed to derive the control law. Finally, a global asymptotic convergence is proven using Lyapunov stability theorems. Simulations are provided to demonstrate the performance of the designed controller and prove tracking error of the controller convergence.

Index Terms—Change of coordinates, euler-lagrange equations, output feedback controller, under-actuated surface ship, third order component, backstepping control technique.

The authors are with the School of Information Science and Technology, Dalian Maritime University, Dalian, Liaoning 116026 China (e-mail: werneld@hotmail.com, dujl66@163.com).


Cite:Werneld E. Ngongi and Jialu Du, "Controller Design for Tracking Control of an Under-Actuated Surface Ship," International Journal of Computer Theory and Engineering vol. 7, no. 6, pp. 469-475, 2015.

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