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

fYear

2008

fDate

16-18 July 2008

Firstpage

337

Lastpage

341

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CHICC.2008.4605253

Filename

4605253