Global straight-line tracking control of ships based on input-output linearization
基于输入输出线性化的船舶全局直线航迹控制

Based on the input-output linearization technique, a class of re-defined output variables and a state feedback control law are presented for ship's straight-line tracking control system. Meanwhile, the sufficient conditions of global asymptotic stability are given in this paper. The results of numerical simulation and experiment on a simulator show the validity of the sufficient conditions. The proposed controller exhibits relatively satisfactory performance.