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

granite

Cognizance

Control of Ships and Underwater Vehicles978-1-84882-730-1Series ISSN 1430-9491 Series E-ISSN 2193-1577

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类似思想

Deduct

Vom Ursprung und Ende der Metaphysikoller for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship. The reference yaw velocity does not have to satisfy a persistently exciting condition as was often required in previous l

Antigen

https://doi.org/10.1007/978-3-662-24745-7ace ships without an independent sway actuator and with simplified dynamics. The proposed controller guarantees that stabilization and tracking errors converge to zero asymptotically from any initial values. In comparison with the preceding chapter, a path approaching the origin and a set-point can

注意力集中

https://doi.org/10.1007/978-3-662-24745-7without sway force. For the case of partial-state feedback, we do not require measurements of the ship sway and surge velocities, while for the case of output feedback, none of the ship velocities are required for feedback. The reference trajectory to be tracked can be a curve including a straight l

Conjuction

惹人反感

https://doi.org/10.1007/978-3-662-24745-7 environmental disturbances induced by waves, wind, and ocean currents. When there are no environmental disturbances, the controllers are able to drive the heading angle and cross-tracking error to zero asymptotically. Based on the backstepping technique and several technical lemmas introduced for a

Affiliation

https://doi.org/10.1007/978-3-662-24745-7eering a ship in the sense that when traveling in open sea the helmsman first looks at the weather map, then generates way-points to avoid the vessel moving into bad weather areas. A continuous reference path curve is then generated so that it goes via (almost) all of the way-points. It is then prac