DocumentCode
2889782
Title
Exponential stabilization of an underactuated surface vessel
Author
Pettersen, K.Y. ; Egeland, O.
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Volume
1
fYear
1996
fDate
11-13 Dec 1996
Firstpage
967
Abstract
The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous nor discontinuous state feedback. Furthermore, stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessel is presented, and a continuous periodic time-varying feedback law is proposed. It is shown that this feedback law exponentially stabilizes the surface vessel to the origin, and this is illustrated by simulations
Keywords
asymptotic stability; controllability; feedback; marine systems; periodic control; position control; time-varying systems; continuous periodic time-varying feedback law; controllability properties; exponential stabilization; underactuated surface vessel; Actuators; Automotive engineering; Controllability; Cybernetics; Open loop systems; Paper technology; Space vehicles; State feedback; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.574602
Filename
574602
Link To Document