Title :
Adaptive tracking control of underactuated surface vessels
Author :
Behal, A. ; Dawson, D.M. ; Xian, B. ; Setlur, P.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
We design a continuous, time-varying tracking controller for an underactuated surface vessel in the presence of uncertainty associated with the hydrodynamic damping coefficients. A Lyapunov-based approach is used to ensure that the position/orientation tracking error is ultimately confined to a ball that can be made arbitrarily small. The result is achieved via the judicious design of a dynamic oscillator in conjunction with two state transformations. We also illustrate how the proposed tracking controller yields the same stability result for the stabilization problem
Keywords :
Lyapunov methods; adaptive control; dynamics; kinematics; position control; ships; stability; time-varying systems; tracking; Lyapunov method; adaptive control; damping; dynamics; kinematics; position control; stability; stabilization; time-varying systems; tracking; underactuated surface vessels; Adaptive control; Control systems; Damping; Feedback; Hydrodynamics; Programmable control; Robust control; Trajectory; Uncertainty; Vehicle dynamics;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973940