TY - GEN
T1 - Nonlinear tracking control of underactuated surface vessel
AU - Dong, Wenjie
AU - Guo, Yi
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/23944461988
UR - https://www.scopus.com/pages/publications/23944461988#tab=citedBy
U2 - 10.1109/ACC.2005.1470664
DO - 10.1109/ACC.2005.1470664
M3 - Conference contribution
AN - SCOPUS:23944461988
SN - 0780390989
T3 - Proceedings of the American Control Conference
SP - 4351
EP - 4356
BT - Proceedings of the 2005 American Control Conference, ACC
T2 - 2005 American Control Conference, ACC 2005
Y2 - 8 June 2005 through 10 June 2005
ER -