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Semi-global practical stabilization of an underactuated surface vessel via nested saturation controller

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2 Author(s)
Soro, D. ; UTC, Compiegne, France ; Lozano, R.

In this paper a control law for stabilizing an underactuated surface vessel is presented. We propose a time-varying controller that provides semi-global practical asymptotic stability. The method combines nested saturation techniques by Teel and backstepping approach. The stability analysis involves the averaging theory.

Published in:

American Control Conference, 2003. Proceedings of the 2003  (Volume:3 )

Date of Conference:

4-6 June 2003