Path-tracking+Control+of+Underactuated+Ships+Under+Tracking+Error+Constraints.pdfVIP

J. Marine Sci. Appl. (2015) 14: 343-354 DOI: 10.1007/s11804-015-1329-3 Path-tracking Control of Underactuated Ships Under Tracking Error Constraints * Khac Duc Do Department of Mechanical Engineering, Curtin University, Kent Street, Bentley, WA 6102, Australia Abstract: This paper presents a constructive design of new and ship dynamics were made, see also (Chwa, 2011) for a controllers that force underactuated ships under constant or slow solution to the tracking problem with input constraints. An time-varying sea