Title
Global time-varying stabilization of underactuated surface vessel
Abbreviated Journal Title
IEEE Trans. Autom. Control
Keywords
global stability; nonlinear control; stabilization; surface vessel; time-varying control; underactuated system; EXPONENTIAL STABILIZATION; NONHOLONOMIC SYSTEMS; TRACKING CONTROL; MOBILE ROBOTS; CONTROL LAWS; Automation & Control Systems; Engineering, Electrical & Electronic
Abstract
This note considers the stabilization problem of an underactuated surface vessel. Three global smooth time-varying control laws are proposed with the aid of different techniques. The first proposed control law makes the state of the closed-loop system asymptotically converge to zero, while the second and the third control laws make the state of the closed-loop system globally exponentially converge to zero. Moreover, the exponential convergence rate of the state of the closed-loop system can be arbitrarily assigned with the third control law. Simulation results show that the proposed control laws are effective.
Journal Title
Ieee Transactions on Automatic Control
Volume
50
Issue/Number
6
Publication Date
1-1-2005
Document Type
Article
Language
English
First Page
859
Last Page
864
WOS Identifier
ISSN
0018-9286
Recommended Citation
"Global time-varying stabilization of underactuated surface vessel" (2005). Faculty Bibliography 2000s. 5141.
https://stars.library.ucf.edu/facultybib2000/5141
Comments
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