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Motion Planning and Tracking for Marine Vessels

[+] Author Affiliations
José Oniram de Aquino Limaverde Filho, Eugênio Liborio Feitosa Fortaleza

University of Brasília, Brasília, DF, Brazil

Paper No. OMAE2013-10823, pp. V005T06A062; 7 pages
doi:10.1115/OMAE2013-10823
From:
  • ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 5: Ocean Engineering
  • Nantes, France, June 9–14, 2013
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5539-3
  • Copyright © 2013 by ASME

abstract

Trajectory tracking is an issue of vital practical importance for manoeuvreing of marine vessels and dynamic position system in many offshore oil field operations. In this work, a flatness based approach is proposed on the tracking control design to define open loop trajectories for a simplified model of the underactuated Hovercraft. The flat outputs are given by using the inverse of the controllability matrix, which allows the design of control law to ensure a global stabilization of the trajectory’s tracking error. Numerical simulations are presented to demonstrate the performance of the tracking controller from arbitrary initial conditions and in the presence of external sinusoidal perturbations. The reference trajectory was chosen with respect to the Earth-fixed frame.

Copyright © 2013 by ASME

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