Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics

Author

Behal, A. ; Dawson, D.M. ; Dixon, W.E. ; Fang, Y.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

47

Issue

3

fYear

2002

fDate

3/1/2002 12:00:00 AM

Firstpage

495

Lastpage

500

Abstract

A continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small i.e. global uniformly ultimately boundedness (GUUB). The result is facilitated by fusing a filtered tracking error transformation with a dynamic oscillator design. We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem

Keywords

Lyapunov methods; closed loop systems; continuous time systems; control system synthesis; dynamics; kinematics; marine vehicles; matrix algebra; time-varying systems; tracking; continuous time-varying tracking controller; dynamic model; dynamic oscillator design; filtered tracking error transformation; global uniformly ultimately boundedness; kinematic model; nonintegrable dynamics; regulation control; underactuated surface vessel; Control systems; Feedback; Force control; Laboratories; Stability; Target tracking; Trajectory; US Department of Energy; Vehicle dynamics; Velocity control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.989148

Filename

989148