Semi-global practical stabilization and disturbance adaptation for an underactuated ship

Author

Pettersen, K.Y. ; Nijmeijer, H.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

Volume

3

fYear

2000

fDate

2000

Firstpage

2144

Abstract

Considers the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control and adaptation laws are derived using a combined integrator backstepping and averaging approach. Simulation results are presented

Keywords

asymptotic stability; feedback; matrix algebra; position control; ships; time-varying systems; averaging approach; disturbance adaptation; environmental force; integrator backstepping; semi-global practical asymptotic stability; semi-global practical stabilization; time-varying feedback control law; underactuated ship; Asymptotic stability; Backstepping; Control theory; Convergence; Cybernetics; Feedback control; Force control; Marine vehicles; Mechanical engineering; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.914112

Filename

914112