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

Socpus ID

21344467677 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/21344467677

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