Control and stabilization of an underactuated surface vessel

This paper studies the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilizable to a given equilibrium configuration using a time-invariant continuous feed...

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Bibliographic Details
Published inProceedings of 35th IEEE Conference on Decision and Control Vol. 3; pp. 2371 - 2376 vol.3
Main Author Reyhanoglu, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Actuators
Control system synthesis
Control systems
Controllability
Convergence
Costs
Feedback control
Mathematical model
Mathematics
Vehicle dynamics
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Summary:This paper studies the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilizable to a given equilibrium configuration using a time-invariant continuous feedback, it is strongly accessible and small-time locally controllable at any equilibrium. Time-invariant discontinuous feedback control laws are then constructed to asymptotically stabilize the system to the desired configuration with exponential convergence rates. A simulation example is included to demonstrate the results.
ISBN:9780780335905
0780335902
ISSN:0191-2216
DOI:10.1109/CDC.1996.573439