Title :
Smooth time-varying uniform asymptotic stabilization of underactuated surface vessels
Author :
Bao-Li Ma ; Wei Huo
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
In this work, three simple smooth time-varying control laws are derived for global uniform asymptotic stabilization of an underactuated surface vessel. The construction of the control laws relies on the reduced-order model of the surface vessel and the three different Lyapunov-like functions. The convergence of state is proved by Barbalat Lemma, and is verified by computer simulation.
Keywords :
Lyapunov methods; asymptotic stability; convergence; marine vehicles; reduced order systems; time-varying systems; Lyapunov-like functions; convergence; global uniform asymptotic stabilization; reduced-order model; smooth time-varying control laws; smooth time-varying uniform asymptotic stabilization; underactuated surface vessels; Asymptotic stability; Computer simulation; Control systems; Convergence; Feedback control; Kinematics; Reduced order systems; Surges; Trajectory; Velocity control;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399561
