Smooth time-varying uniform asymptotic stabilization of underactuated surface vessels

In this work, three simple smooth time-varying control laws are derived for global uniform asymptotic stabilization of an underactuated surface vessel. The construction of the control laws relies on the reduced-order model of the surface vessel and the three different Lyapunov-like functions. The co...

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Bibliographic Details
Main Authors: Ma, Bao-Li, Wei, Huo
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic stability
Computer simulation
Control systems
Convergence
Feedback control
Kinematics
Reduced order systems
Surges
Trajectory
Velocity control
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Summary:In this work, three simple smooth time-varying control laws are derived for global uniform asymptotic stabilization of an underactuated surface vessel. The construction of the control laws relies on the reduced-order model of the surface vessel and the three different Lyapunov-like functions. The convergence of state is proved by Barbalat Lemma, and is verified by computer simulation.
ISSN:0191-2216
DOI:10.1109/CDC.2009.5399561