DocumentCode
439137
Title
Nonlinear tracking control of underactuated surface vessel
Author
Dong, Wenjie ; Guo, Yi
Author_Institution
Dept. of Electr. & Comput. Eng., Central Florida Univ., Orlando, FL, USA
fYear
2005
fDate
8-10 June 2005
Firstpage
4351
Abstract
We consider in this paper the tracking control problem of an underactuated surface vessel. Based on the cascaded structure of tracking error dynamics, we present two new tracking controllers using Barbalat´s lemma and back-stepping techniques under mild assumptions on the reference trajectory. The closed-loop systems achieve global asymptotical and exponential tracking respectively. Simulation results show that the proposed control laws are effective.
Keywords
closed loop systems; marine vehicles; nonlinear control systems; position control; tracking; Barbalat lemma; backstepping; closed-loop systems; exponential tracking; global asymptotical tracking; nonlinear tracking control; tracking error dynamics; underactuated surface vessel control; Backstepping; Computer errors; Control systems; Error correction; Linear feedback control systems; Nonlinear dynamical systems; Output feedback; State feedback; Surges; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2005. Proceedings of the 2005
ISSN
0743-1619
Print_ISBN
0-7803-9098-9
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2005.1470664
Filename
1470664
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