Control and stabilization of an underactuated surface vessel


Reyhanoglu, Mahmut (1996) Control and stabilization of an underactuated surface vessel. In: 35th IEEE Conference on Decision and Control, 1996, 11-13 December 1996, Kobe, Japan (pp. pp. 2371-2376).

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Abstract: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 equilibrium configuration using a time-invariant continuous feedback, it is strongly accessible and small-time locally controllable at any equilibrium. Time-invariant discontinuous feedback control laws are then constructed to asymptotically stabilize the system to the desired configuration with exponential convergence rates. A simulation example is included to demonstrate the results
Item Type:Conference or Workshop Item
Copyright:©1996 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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