Title :
Global uniform asymptotic stabilization of an underactuated surface vessel
Author :
Mazenc, Frédéric ; Pettersen, Kristin ; Nijmeijer, Henk
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Metz, France
fDate :
10/1/2002 12:00:00 AM
Abstract :
Explicit formulas of smooth time-varying state feedbacks, which make the origin of an underactuated surface vessel globally uniformly asymptotically stable, are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time-periodic functions.
Keywords :
asymptotic stability; position control; ships; state feedback; time-varying systems; Lyapunov function; backstepping; dynamic positioning-control; feedback; global stability; surface vessel; time-varying feedback; underactuated surface vessel; underactuated system; Actuators; Backstepping; Control systems; Feedback control; Lyapunov method; Marine vehicles; Petroleum; Stability; State feedback; Time varying systems;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.803554
