The paper considers the dynamic positioning problem for a ship having only two independent controls, namely surge force and yaw moment. A time-varying feedback control law including integral action is developed and proved to exponentially stabilize both the North and East positions and the orientation of the ship. Experimental results are presented where the controller is implemented on a model...

Precision agriculture involves very accurate f a r m vehicle control along recorded paths, which are no t necessarily straight lines. In this paper, we investigate the possibility of achieving this task wi th a CP-DGPS as the unique sensor. T h e vehicle heading is derived according t o a K a l m a n state reconstructor, and a nonlinear velocity independent control law i s designed, relying o n...

The paper considers the dynamic positioning problem for a ship having only two independent controls, namely surge force and yaw moment. A time-varying feedback control law including integral action is developed and proved to exponentially stabilize both the North and East positions and the orientation of the ship. Experimental results are presented where the controller is implemented on a model...

Visual servoing is generally based upon geometrical features. Recent developments were made in the way of a generalization of this approach to dynamic features. The idea is that velocity in the image can be measured without the constraint of having an a priori knowledge of the scene. In this paper, a control law to position a camera mounted on the end eeector of a robot, in such a way the image...