Global Asymptotic Trajectory Tracking and Point Stabilization of Asymmetric Underactuated Ships with Non-Diagonal Inertia/Damping Matrices

Abstract

In this work, we investigate the trajectory tracking and point stabilization problems of asymmetric underactuated surface ships with non-diagonal inertia and damping matrices. By combining the novel state and input transformations, the direct Lyapunov approach, and the nonlinear time-varying tools, the trajectory tracking controller is derived, guaranteeing global κ-exponential convergence of state trajectory to the reference one satisfying mild persistent exciting conditions. By properly designing the reference trajectory, the proposed tracking scheme is also generalized to achieve global uniform asymptotic point stabilization. Simulation examples are given to illustrate the effectiveness of the proposed control schemes.