Title :
Observer based output feedback stabilization of underactuated surface vessel
Author :
Zhanlei, Liu ; Baoli, Ma
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., Beijing
Abstract :
In order to overcome the difficulties of measuring the linear and angular velocities of an underactuated surface vessel, an observer-based smooth time-varying output feedback control law is proposed, guaranteeing that the state trajectories of the closed-loop system converge exponentially to the desired state with provided the position and orientation of the underactuated ship are measurable. Simulation results show the effectiveness of proposed control law.
Keywords :
closed loop systems; feedback; observers; ships; stability; time-varying systems; angular velocities; closed-loop system; linear velocities; observer based output feedback stabilization; state trajectories; time-varying output feedback control; underactuated ship; underactuated surface vessel; Angular velocity; Angular velocity control; Control systems; Extraterrestrial measurements; Linear feedback control systems; Marine vehicles; Output feedback; Position measurement; Time varying systems; Velocity measurement; Nonholonomic systems; Output feedback; State Observer; Underactuated surface vessel;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605253
