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

Socpus ID

23944461988 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/23944461988

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