Precise Trajectory Tracking Control of Ship Towing Systems via a Dynamical Tracking Target

Ouxue Li and Yusheng Zhou
Additional contact information
Ouxue Li: School of Mathematics and Statistics, Guizhou University, Guiyang 550025, China
Yusheng Zhou: School of Mathematics and Statistics, Guizhou University, Guiyang 550025, China

Mathematics, 2021, vol. 9, issue 9, 1-18

Abstract: This paper proposes a novel control strategy to address the precise trajectory tracking control problem of a ship towing system. At first, the kinematics and dynamics models of a ship towing system are established by introducing a passive steering angle and using its structure relationship. Then, by using the motion law derived from its nonholonomic constraints, the relative curvature of the target trajectory curve is applied to design a dynamical tracking target. By applying the sliding mode control and inverse dynamic adaptive control methods, two appropriate robust torque controllers are designed via the dynamical tracking target, so that both the tugboat and the towed ship are able to track the desired path precisely. As we show, the proposed strategy has excellent agreement with the numerical simulation results.

Keywords: dynamical tracking target; ship towing system; relative curvature; adaptive control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
https://www.mdpi.com/2227-7390/9/9/974/pdf (application/pdf)
https://www.mdpi.com/2227-7390/9/9/974/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:9:y:2021:i:9:p:974-:d:543992

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().