Exponential stabilization of an underactuated autonomous surface vessel
نویسندگان
چکیده
منابع مشابه
Exponential stabilization of an underactuated autonomous surface vessel
This paper studies the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilizable to a given configuration using a time-invariant continuous feedback, it is strongly accessible and small-time locally controllable at any equilibrium. Time-invariant discon...
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Explicit formulas of smooth time-varying state feedbacks, which make the origin of an underactuated surface vessel globally uniformly asymptotically stable, are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time-periodic functions.
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This paper considers the problem of controlling both the planar position and orientation of an underactuated airship with a reduced number of actuators. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subject to bounded uncertainties. A smooth and time-varying coordinate transformation is utilized to reduce the stabilization problem of the air...
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This paper describes a novel logic-based controller for the global asymptotic stabilization of an underactuated surface vessel, which has a larger degree-of-freedom than the number of control inputs. This system cannot be asymptotically stabilized using any time-invariant smooth feedback controller since the system violates the well-known Brockett’s condition. Thus, the proposed controller can ...
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In this paper a continuous periodic time-varying feedback law is proposed that exponentially stabilizes both the position and orientation of a surface vessel having only two actuators. To this end, a stability result for a class of homogeneous time-periodic systems is presented. The exponential stability provided by the proposed feedback law does not depend on exact knowledge of the model param...
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ژورنال
عنوان ژورنال: Automatica
سال: 1997
ISSN: 0005-1098
DOI: 10.1016/s0005-1098(97)00141-6