Trajectory Tracking of Underactuated Surface Vessels: a Linear Algebra Approach

SERRANO, MARIIO EMANUEL; SCAGLIA GUSTAVO; GODOY SEBASTIAN; MUT VICENTE; ORTIZ, OSCAR ALBERTO

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Lugar: New York; Año: 2014 vol. 22 p. 1103 - 1111

1063-6536

This paper presents the design of a controller that allows to a underactuated vessel track a reference trajectory in the x-y plane. A trajectory-tracking controller designed originally for robotic systems is applied for underactuated surface ships. Such model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero and the calculation of control actions, are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented and complete the previous work of the authors. Simulation results show the good performance of the proposed control system.