DocumentCode
838306
Title
Global uniform asymptotic stabilization of an underactuated surface vessel
Author
Mazenc, Frédéric ; Pettersen, Kristin ; Nijmeijer, Henk
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Metz, France
Volume
47
Issue
10
fYear
2002
fDate
10/1/2002 12:00:00 AM
Firstpage
1759
Lastpage
1762
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; Lyapunov function; backstepping; dynamic positioning-control; feedback; global stability; surface vessel; time-varying feedback; underactuated surface vessel; underactuated system; Actuators; Backstepping; Control systems; Feedback control; Lyapunov method; Marine vehicles; Petroleum; Stability; State feedback; Time varying systems;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2002.803554
Filename
1039819
Link To Document