Nonlinear tracking control of underactuated surface vessel

Wenjie Dong, Yi Guo

Research output: Contribution to journalConference articlepeer-review

36 Scopus citations

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 languageEnglish
Article numberFrB11.6
Pages (from-to)4351-4356
Number of pages6
JournalProceedings of the American Control Conference
Volume6
StatePublished - 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: 8 Jun 200510 Jun 2005

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