Control and stabilization of an underactuated surface vessel

M. Reyhanoglu, Mahmut Reyhanoglu

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    75 Citations (Scopus)
    87 Downloads (Pure)

    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 languageUndefined
    Title of host publicationProceedings 35th IEEE Conference on Decision and Control
    Place of PublicationKobe, Japan
    PublisherIEEE
    Pages2371-2376
    Number of pages6
    ISBN (Print)0-7803-3593-7
    DOIs
    Publication statusPublished - 11 Dec 1996
    Event35th IEEE Conference on Decision and Control 1996 - Portopia Hotel and International Conference Center , Kobe, Japan
    Duration: 11 Dec 199613 Dec 1996
    Conference number: 35

    Publication series

    Name
    PublisherIEEE
    Volume3

    Conference

    Conference35th IEEE Conference on Decision and Control 1996
    CountryJapan
    CityKobe
    Period11/12/9613/12/96

    Keywords

    • IR-31116
    • METIS-141758

    Cite this