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Explicit formulas of smooth time-varying state feedbacks which make the origin of an underactuated surface vessel globally uniformly asymptotically stable are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time periodic functions.
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on (Volume:1 )
Date of Conference: 10-13 Dec. 2002