Control and stabilization of an underactuated surface vessel

• Published in: Proceedings of 35th IEEE Conference on Decision and Control Vol. 3; pp. 2371 - 2376 vol.3
• Main Author: Reyhanoglu, M.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 1996
• Subjects: Actuators; Control system synthesis; Control systems; Controllability; Convergence; Costs; Feedback control; Mathematical model; Mathematics; Vehicle dynamics

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...