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In this paper we present a relatively novel methodology, based on backstepping procedure, focused on solving the tracking control problem in ships whose dynamics is characterized by a nonlinear model. The sea trials of a liquefied natural gas (LNG) carrier show that the Norrbin model is capable of representing appropriately the variation of the course when a change on the rudder angle is applied....
Based on diffeomorphism equivalent transformation and backstepping technology, a feedback control law is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints. With the aids of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. All signals in the closed-loop system are proved uniformly ultimately...
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