Title :
Semi-global practical stabilization of an underactuated surface vessel via nested saturation controller
Author :
Soro, D. ; Lozano, R.
Author_Institution :
UTC, Compiegne, France
Abstract :
In this paper a control law for stabilizing an underactuated surface vessel is presented. We propose a time-varying controller that provides semi-global practical asymptotic stability. The method combines nested saturation techniques by Teel and backstepping approach. The stability analysis involves the averaging theory.
Keywords :
asymptotic stability; hovercraft; time-varying systems; asymptotic stability; averaging theory; control law; saturation controller; saturation techniques; semiglobal practical stabilisation; stability analysis; time varying controller; underactuated surface vessel; Actuators; Asymptotic stability; Backstepping; Control systems; Costs; Feedback; Marine vehicles; Stability analysis; Time varying systems; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1243369
