Stabilization Andtracking for an Underactuated Ship { Acombined Averaging And
نویسنده
چکیده
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 probl eme de poursuite de trajectoire d'un bateau sous-actionn e, en utilisant une combinaison entre un "backstepping" et une approche moyenne. La convergence exponentielle vers un voisinage arbitrairement petit de l'origine et de la trajectoire de r ef erence est prouv ee. Les r esultats de simulation sont inclus.
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