Title
Nonlinear Tracking Control Of Underactuated Surface Vessel
Abstract
We consider in this paper the tracking control problem of an underactuated surface vessel. Based on the cascaded structure of tracking error dynamics, we present two new tracking controllers using Barbalat's lemma and backstepping techniques under mild assumptions on the reference trajectory. The closed-loop systems achieve global asymptotical and exponential tracking respectively. Simulation results show that the proposed control laws are effective. © 2005 AACC.
Publication Date
9-1-2005
Publication Title
Proceedings of the American Control Conference
Volume
6
Number of Pages
4351-4356
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
Copyright Status
Unknown
Socpus ID
23944461988 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/23944461988
STARS Citation
Dong, Wenjie and Guo, Yi, "Nonlinear Tracking Control Of Underactuated Surface Vessel" (2005). Scopus Export 2000s. 3782.
https://stars.library.ucf.edu/scopus2000/3782