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
Original language | Undefined |
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Title of host publication | Proceedings 35th IEEE Conference on Decision and Control |
Place of Publication | Kobe, Japan |
Publisher | IEEE |
Pages | 2371-2376 |
Number of pages | 6 |
ISBN (Print) | 0-7803-3593-7 |
DOIs | |
Publication status | Published - 11 Dec 1996 |
Event | 35th IEEE Conference on Decision and Control 1996 - Portopia Hotel and International Conference Center , Kobe, Japan Duration: 11 Dec 1996 → 13 Dec 1996 Conference number: 35 |
Publication series
Name | |
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Publisher | IEEE |
Volume | 3 |
Conference
Conference | 35th IEEE Conference on Decision and Control 1996 |
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Country/Territory | Japan |
City | Kobe |
Period | 11/12/96 → 13/12/96 |
Keywords
- IR-31116
- METIS-141758