DocumentCode
2267316
Title
Semi-global practical stabilization of an underactuated surface vessel via nested saturation controller
Author
Soro, D. ; Lozano, R.
Author_Institution
UTC, Compiegne, France
Volume
3
fYear
2003
fDate
4-6 June 2003
Firstpage
2006
Abstract
In this paper a control law for stabilizing an underactuated surface vessel is presented. We propose a time-varying controller that provides semi-global practical asymptotic stability. The method combines nested saturation techniques by Teel and backstepping approach. The stability analysis involves the averaging theory.
Keywords
asymptotic stability; hovercraft; time-varying systems; asymptotic stability; averaging theory; control law; saturation controller; saturation techniques; semiglobal practical stabilisation; stability analysis; time varying controller; underactuated surface vessel; Actuators; Asymptotic stability; Backstepping; Control systems; Costs; Feedback; Marine vehicles; Stability analysis; Time varying systems; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1243369
Filename
1243369
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