Exponential stabilization of an underactuated surface vessel

The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous nor discontinuous state feedback. Furthermore, stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessel is presented, and a co...

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Bibliographic Details
Published inProceedings of 35th IEEE Conference on Decision and Control Vol. 1; pp. 967 - 972 vol.1
Main Authors Pettersen, K.Y., Egeland, O.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Actuators
Automotive engineering
Controllability
Cybernetics
Open loop systems
Paper technology
Space vehicles
State feedback
Underwater vehicles
Vehicle dynamics
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Summary:The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous nor discontinuous state feedback. Furthermore, stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessel is presented, and a continuous periodic time-varying feedback law is proposed. It is shown that this feedback law exponentially stabilizes the surface vessel to the origin, and this is illustrated by simulations.
ISBN:9780780335905
0780335902
ISSN:0191-2216
DOI:10.1109/CDC.1996.574602