Semi-global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship
نویسندگان
چکیده
| 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 and adaptation laws are derived using a combined integrator backstepping and averaging approach. Simulation results are presented.
منابع مشابه
Stabilization Andtracking for an Underactuated Ship { Acombined Averaging And
We solve both the global practical stabilization and tracking problem for an underactuated ship, using a combined integrator backstepping and averaging approach. Exponential convergence to an arbitrarily small neighbourhood of the origin and of the reference trajectory, respectively, is proved. Simulation results are included. R esum e: Nous r esolvons a la fois la stabilisation globale et le p...
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