DocumentCode
3262985
Title
Stabilization of an underactuated ship using a linear time-varying control
Author
Soro, David ; Lozano, Rogelio
Author_Institution
Heudiasyc, Univ. de Technol. de Compiegne, France
Volume
2
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
1693
Abstract
We consider the problem of stabilizing the position and orientation of an underactuated hovercraft to the origin, when the hovercraft has only two independent controls. We propose a time-varying feedback control law. The control is based on pole placement techniques combined with backstepping techniques. The stability analysis involves a solution of the Lyapunov´s equation for linear systems.
Keywords
Lyapunov methods; feedback; linear systems; stability; time-varying systems; Lyapunov equation; backstepping techniques; linear systems; linear time-varying control; pole placement; stability analysis; underactuated hovercraft; underactuated ship stabilization; Angular velocity control; Control systems; Feedback control; Force control; Marine vehicles; Stability analysis; State feedback; Surges; Time varying systems; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184764
Filename
1184764
Link To Document