Output feedback circular path following control for sampled-data underactuated ships

Circular path following control of sampled-data underactuated ships is considered by both state and output feedback controllers. State feedback controllers are obtained by a line-of-sight guidance algorithm and the Euler approximate model of a tracking error dynamics. Then the output feedback controllers that achieve circular path following control are obtained by combining the designed state feedback controllers and reduced-order observers designed for the Euler approximate model of a ship dynamics. Simulation results are also given to show the efficiency of the designed controllers.

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