In this paper, we present a global state feedback tracking controller forunderactuated surface marine vessels. This controller is based on saturatedcontrol inputs and, under an assumption on the reference trajectory, theclosed-loop system is globally asymptotically stable (GAS). It has beendesigned using a 3 Degree of Freedom benchmark vessel model used in marineengineering. The main feature of our controller is the boundedness of thecontrol inputs, which is an essential consideration in real life. In absence ofvelocity measurements, the controller works and remains stable with observersand can be used as an output feedback controller. Simulation resultsdemonstrate the effectiveness of this method.
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