Tracking control of an underactuated autonomous surface vessel using switched feedback

被引：0

作者：

Reyhanoglu, Mahmut ^{[1
]}

Bommer, Ard ^{[2
]}

机构：

[1] Embry Riddle Aeronaut Univ, Dept Phys Sci, Daytona Beach, FL 32114 USA

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

来源：

IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 | 2006年

关键词：

D O I：

暂无

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 paper studies the tracking problem for an underactuated autonomous surface vessel. The research extends earlier backstepping designs for underactuated systems by constructing a switched feedback control law to achieve global tracking. The control law avoids singularities arising from coordinate transformations used to describe the surface vessel dynamics in second-order chained form. The paper provides a detailed derivation of the control law. Simulation examples are included to illustrate the effectiveness of the tracking controller.

引用

页码：1087 / +

页数：3

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