Title
Global Time-Varying Stabilization Of Underactuated Surface Vessel
Keywords
Global stability; Nonlinear control; Stabilization; Surface vessel; Time-varying control; Underactuated system
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. © 2005 IEEE.
Publication Date
6-1-2005
Publication Title
IEEE Transactions on Automatic Control
Volume
50
Issue
6
Number of Pages
859-864
Document Type
Article
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/TAC.2005.849248
Copyright Status
Unknown
Socpus ID
21344467677 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/21344467677
STARS Citation
Dong, Wenjie and Guo, Yi, "Global Time-Varying Stabilization Of Underactuated Surface Vessel" (2005). Scopus Export 2000s. 3939.
https://stars.library.ucf.edu/scopus2000/3939