Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics
Top Cited Papers
- 7 August 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 47 (3) , 495-500
- https://doi.org/10.1109/9.989148
Abstract
A continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small i.e. global uniformly ultimately boundedness (GUUB). The result is facilitated by fusing a filtered tracking error transformation with a dynamic oscillator design. We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem.Keywords
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