Global κ -exponential asymptotic stabilization of underactuated surface vessels

In this work, a time-invariant switching control law is proposed to make the desired set point of an underactuated surface vessel globally asymptotically stable with exponential convergence rate ( κ -exponential stable). The construction of the controller relies on discontinuous coordinate/input tra...

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Bibliographic Details
Published in:Systems & control letters 2009-03, Vol.58 (3), p.194-201
Main Author: Ma, Bao-li
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
Exact sciences and technology
Exponential convergence
Global asymptotical stabilization
Switching control
Underactuated surface vessel
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Summary:In this work, a time-invariant switching control law is proposed to make the desired set point of an underactuated surface vessel globally asymptotically stable with exponential convergence rate ( κ -exponential stable). The construction of the controller relies on discontinuous coordinate/input transformations and a Lyapunov-like switching function. The result is the first stabilizing law able to achieve global κ -exponential stability of the underactuated surface vessel. The effectiveness of the proposed control law is verified by simulation.
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2008.10.011