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).
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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.
