Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics
- 11 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2150-2155 vol.3
- https://doi.org/10.1109/cdc.2000.914113
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 bounded, GUUB). The result is facilitated by fusing a filtered tracking error transformation with the dynamic oscillator design presented in Dixon et al. (1999). We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem. In addition, an extension is provided that illustrates that the proposed unified tracking/regulation controller can be applied to a twin rotor helicopter model.Keywords
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