Abstract
We consider in this paper the tracking control problem of an underactuated surface vessel. Based on the cascaded structure of tracking error dynamics, we present two new tracking controllers using Barbalat's lemma and backstepping techniques under mild assumptions on the reference trajectory. The closed-loop systems achieve global asymptotical and exponential tracking respectively. Simulation results show that the proposed control laws are effective.
Original language | English |
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Article number | FrB11.6 |
Pages (from-to) | 4351-4356 |
Number of pages | 6 |
Journal | Proceedings of the American Control Conference |
Volume | 6 |
State | Published - 2005 |
Event | 2005 American Control Conference, ACC - Portland, OR, United States Duration: 8 Jun 2005 → 10 Jun 2005 |