Global time-varying stabilization of underactuated surface vessel

    Authors

    W. J. Dong;Y. Guo

    Comments

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    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

    WOS:000229853500012

    ISSN

    0018-9286

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