This paper addresses the problem of tracking control and stabilization for underactuated ships subjected to parametric modeling uncertainties. By designing a novel error state transformation scheme, some auxiliary variables are provided to be regarded as additional virtual control signals, while these variables can change their structures for different reference trajectories. Then, a robust control scheme is presented to achieve practical convergence of tracking errors and the ship's velocities to bounded neighborhoods of the origin. Simulation results are performed to illustrate the effectiveness of the proposed control scheme.
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