Stabilization of the Vessel Motion by Restricted Control

摘要

Abstract The paper considers an algorithm designed to control the motion of an underactuated vessel along a path with a continuous bounded curvature. The algorithm, based on transverse feedback linearization, provides for restriction of the control signal. In this case, the state vector of the vessel motion model does not approach the singularity point of the control law. The control algorithm makes the vessel return to the desired path-attractor at any lateral deviation of the vessel from the desired path.