Global uniform asymptotic stabilization of an underactuated surface vessel

被引：159

作者：

Mazenc, F

Pettersen, K

Nijmeijer, H

机构：

[1] INRIA Lorraine, Projet CONGE, F-57045 Metz 01, France

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

[3] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2002年 / 47卷 / 10期

关键词：

global stability; Lyapunov function; time-varying feedback; underactuated system;

D O I：

10.1109/TAC.2002.803554

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1759 / 1762

页数：4

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