Global K-exponential stabilization of an underactuated non-symmetric surface vessel by smooth time-varying control

In the study, the authors solve the problem of uniform global K-exponential stabilization for an non-symmetric underactuated surface vessel with only two available inputs. Using coordinate transformations and Lyapunov theory, a smooth time-varying control law is proposed under certain conditions on the inertia and damping matrices, gives global K-exponential stability of the closed-loop system. Finally, the enclosed simulation results show the effectiveness of the proposed approach.