Global time-varying stabilization of underactuated surface vessel

被引：138

作者：

Dong, WJ ^{[1
]}

Guo, Y ^{[1
]}

机构：

[1] Univ Cent Florida, Dept Elect & Comp Engn, Orlando, FL 32816 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2005年 / 50卷 / 06期

关键词：

global stability; nonlinear control; stabilization; surface vessel; time-varying control; underactuated system;

D O I：

10.1109/TAC.2005.849248

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note considers the stabilization problem of an underactuated surface vessel. Three global smooth time-varying control laws are proposed with the aid of different techniques. The first proposed control law makes the state of the closed-loop system asymptotically converge to zero, while the second and the third control laws make the state of the closed-loop system globally exponentially converge to zero. Moreover, the exponential convergence rate of the state of the closed-loop system can be arbitrarily assigned with the third control law. Simulation results show that the proposed control laws are effective.

引用

页码：859 / 864

页数：6

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