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
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;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184547
