TY - JOUR
T1 - Global time-varying stabilization of underactuated surface vessel
AU - Dong, Wenjie
AU - Guo, Yi
PY - 2005/6
Y1 - 2005/6
N2 - 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.
AB - 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.
KW - Global stability
KW - Nonlinear control
KW - Stabilization
KW - Surface vessel
KW - Time-varying control
KW - Underactuated system
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U2 - 10.1109/TAC.2005.849248
DO - 10.1109/TAC.2005.849248
M3 - Article
AN - SCOPUS:21344467677
SN - 0018-9286
VL - 50
SP - 859
EP - 864
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 6
ER -