Global time-varying stabilization of underactuated surface vessel
Abbreviated Journal Title
IEEE Trans. Autom. Control
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
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.
Ieee Transactions on Automatic Control
"Global time-varying stabilization of underactuated surface vessel" (2005). Faculty Bibliography 2000s. 5141.