Global generalised exponential/finite-time control for course-keeping of ships

ABSTRACT

This paper addresses the global generalised exponential/finite-time control of the nonlinear ship course system with an unknown control coefficient. Different from the well-known Nussbaum-gain adaptive rule, a new Lyapunov-based adaptive logic switching rule is proposed to seek the correct control direction of the ship course system. The main advantage of the proposed controller is that it guarantees the global generalised exponential/finite-time control of closed-loop systems. Theoretical analysis and simulation results show the effectiveness of the developed control method.

Keywords:

• Course-keeping of ships
• adaptive switching control
• unknown control direction
• global generalised exponential control
• global finite-time control

Acknowledgements

This work is supported by National Natural Science Foundation of China (Grant Numbers: 61174213, 61203074).

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

National Natural Science Foundation of China [Grant Numbers 61174213 and 61203074].