Robust dissipative designs for straight-line tracking control of underactuated ships

Abstract

This paper developed a robust state feedback controller based on the notion of strict dissipation and the HJI (Hamilton-Jacobi-Isaacs) inequality for the straight-line tracking control system for underactuated ships, such that the resulting closed-loop system is both strictly dissipative and asymptotically stable under external disturbances. When there are no external disturbances, the proposed controller can drive an underactuated ship to track a given straight line locally asymptotically. Numerical simulation results on an ocean-going training ship 'YULONG' are presented to validate the effectiveness and transient performance of the proposed algorithm.