Global Uniform Asymptotic Stabilization of an Underactuated Surface Vessel
نویسندگان
چکیده
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.
منابع مشابه
Asymptotic Stabilization of an Underactuated Surface Vessel via Logic-Based Control
This paper describes a novel logic-based controller for the global asymptotic stabilization of an underactuated surface vessel, which has a larger degree-of-freedom than the number of control inputs. This system cannot be asymptotically stabilized using any time-invariant smooth feedback controller since the system violates the well-known Brockett’s condition. Thus, the proposed controller can ...
متن کاملDynamically Scaled Generalized Inversion for Asymptotic Stabilization of Underactuated Spacecraft Dynamics
Novel concept of feedback linearization is introduced for smooth asymptotic stabilization of underactuated spacecraft equipped with one and two degrees of actuation. The concept is based on generalized inversion, and is aimed at asymptotically realizing a perturbation from the unrealizable feedback linearizing transformation. A desired stable second-order linear dynamics in a norm measure of th...
متن کاملSemi-global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship
| We consider the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control...
متن کاملStable Synchronization of Mechanical System Networks
In this paper we address stabilization of a network of underactuated mechanical systems with unstable dynamics. The coordinating control law stabilizes the unstable dynamics with a term derived from the Method of Controlled Lagrangians and synchronizes the dynamics across the network with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry...
متن کاملGlobal tracking for an underactuated ships with bounded feedback controllers
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main featu...
متن کامل