Exponential Stabilization of an Underactuated Surface Vessel
Open Access
- 1 January 1997
- journal article
- Published by Norwegian Society of Automatic Control in Modeling, Identification and Control: A Norwegian Research Bulletin
- Vol. 18 (3) , 239-248
- https://doi.org/10.4173/mic.1997.3.3
Abstract
The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous or discontinuous state feedback. Furthermore, stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessels 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 simulationsKeywords
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