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Asymptotic Backstepping Stabilization of an Underactuated Surface Vessel

Abstract : This brief addresses the problem of controlling the planar position and orientation of an autonomous underactuated surface vessel. Under realistic assumptions, we show, first, that there exists a natural change of coordinates that transforms the whole dynamical system into a cascade nonlinear system, and, second, the control problem of the resulting system can be reduced to the stabilization of a third-order chained form. A time-invariant discontinuous feedback law is derived to guarantee global uniform asymptotic stabilization of the system to the desired configuration. The construction of such a controller is based on the backstepping design approach. A simulation example is included to demonstrate the effectiveness of the suggested approach
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Submitted on : Monday, August 18, 2014 - 4:41:49 PM
Last modification on : Saturday, June 25, 2022 - 10:12:37 AM


  • HAL Id : hal-01056356, version 1


Jawhar Ghommam, Faiçal Mnif, Abderraouf Benali, Nabil Derbel. Asymptotic Backstepping Stabilization of an Underactuated Surface Vessel. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2006, 14 (6), pp.1150-1157. ⟨hal-01056356⟩



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