Title :
Exponential stabilization of an underactuated surface vessel
Author :
Pettersen, K.Y. ; Egeland, O.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous nor discontinuous state feedback. Furthermore, stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessel is presented, and a continuous periodic time-varying feedback law is proposed. It is shown that this feedback law exponentially stabilizes the surface vessel to the origin, and this is illustrated by simulations
Keywords :
asymptotic stability; controllability; feedback; marine systems; periodic control; position control; time-varying systems; continuous periodic time-varying feedback law; controllability properties; exponential stabilization; underactuated surface vessel; Actuators; Automotive engineering; Controllability; Cybernetics; Open loop systems; Paper technology; Space vehicles; State feedback; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574602
