Titlebook: Control of Ships and Underwater Vehicles; Design for Underactu Khac Duc Do,Jie Pan Book 2009 Springer-Verlag London 2009 Control.Control Ap

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Path-tracking Control of Underactuated Ships trajectories be generated by virtual ships is relaxed, and the control design is simpler and more amenable for implementation in practice. The control development is based on a series of coordinate transformations, the backstepping technique, and utilizing the dynamic structure of the ship.

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https://doi.org/10.1007/978-3-662-24745-7ine. Global nonlinear coordinate changes are introduced to transform the ship dynamics to a system affine in the ship velocities to design observers to globally exponentially estimate unmeasured velocities. These observers plus the techniques in the previous chapter facilitate the development of controllers in the following sections.

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adroit

https://doi.org/10.1007/978-3-662-24745-7ollers are then developed using the control design techniques proposed for underactuated ships in Chapters 6 and 11. For VTOL aircraft, the observer and control design strategies used for underactuated ships in Chapters 5 and 6 are utilized to design a global output feedback trajectory-tracking controller.