Control and stabilization of an underactuated surface vessel
- 11 December 1996
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2371-2376 vol.3
- https://doi.org/10.1109/cdc.1996.573439
Abstract
This paper studies the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilizable to a given equilibrium configuration using a time-invariant continuous feedback, it is strongly accessible and small-time locally controllable at any equilibrium. Time-invariant discontinuous feedback control laws are then constructed to asymptotically stabilize the system to the desired configuration with exponential convergence rates. A simulation example is included to demonstrate the results.Keywords
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