%0 Journal Article
%T A Study of Stability of Straight-line Tracking Control System for Underactuated Ship<br>不完全驱动船舶直线航迹控制稳定性研究
%A ZHOU Gang
%A YAO Qiong-Hui
%A CHEN Yong-Bing
%A ZHOU Yong-Yu
%A Li Wen-Kui
%A <br>周岗
%A 姚琼荟
%A 陈永冰
%A 周永余
%A 李文魁
%J 自动化学报
%D 2007
%I 
%X Based on the input-output linearization technique,a class of redefinition output Variables are presented for the ship's straight-line tracking control system.At the same time,the state feedback control law is developed.In this paper,the sufficient conditions for global asymptoticai stability are given by means of Lyapunov's direct method.The results of numerical simulation and experiments on a simulator show the validity of the sufficient conditions.
%K Lyapunov function
%K redefinition output variable
%K input-output linearization
%K ship's tracking control<br>Lyapunov函数
%K 重定义输出变量
%K 输入输出线性化
%K 船舶航迹控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=F2C8D194F1B5FEF7&yid=A732AF04DDA03BB3&vid=27746BCEEE58E9DC&iid=E158A972A605785F&sid=73648F51F187AC5E&eid=05340B75C67FF664&journal_id=0254-4156&journal_name=自动化学报&referenced_num=6&reference_num=12