Global time-varying stabilization of underactuated surface vessel

Wenjie Dong, Yi Guo

Research output: Contribution to journalArticlepeer-review

161 Scopus citations

Abstract

This note considers the stabilization problem of an underactuated surface vessel. Three global smooth time-varying control laws are proposed with the aid of different techniques. The first proposed control law makes the state of the closed-loop system asymptotically converge to zero, while the second and the third control laws make the state of the closed-loop system globally exponentially converge to zero. Moreover, the exponential convergence rate of the state of the closed-loop system can be arbitrarily assigned with the third control law. Simulation results show that the proposed control laws are effective.

Original languageEnglish
Pages (from-to)859-864
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume50
Issue number6
DOIs
StatePublished - Jun 2005

Keywords

  • Global stability
  • Nonlinear control
  • Stabilization
  • Surface vessel
  • Time-varying control
  • Underactuated system

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