• DocumentCode
    391136
  • Title

    Global uniform asymptotic stabilization of an underactuated surface vessel

  • Author

    Mazenc, Frédéric ; Pettersen, Kristi Y. ; Nijmeijer, Hendrik

  • Author_Institution
    Projet CONGE, INRIA Lorraine, Metz, France
  • Volume
    1
  • fYear
    2002
  • fDate
    10-13 Dec. 2002
  • Firstpage
    510
  • Abstract
    Explicit formulas of smooth time-varying state feedbacks which make the origin of an underactuated surface vessel globally uniformly asymptotically stable are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time periodic functions.
  • Keywords
    asymptotic stability; position control; ships; state feedback; time-varying systems; backstepping approach; dynamic positioning; global uniform asymptotic stabilization; smooth time-varying state feedback; time periodic functions; underactuated surface vessel; Drilling; Marine vehicles; Petroleum; Stability; Virtual colonoscopy;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-7516-5
  • Type

    conf

  • DOI
    10.1109/CDC.2002.1184547
  • Filename
    1184547
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=391136