A Study of Stability of Straight-line Tracking Control System for Underactuated Ship
不完全驱动船舶直线航迹控制稳定性研究

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.