Referenced Items are not available for this document.
This note considers the stabilization problem of an underactuated surface vessel. Three global smooth time-varying control laws are proposed with the aid of different techniques. The first proposed control law makes the state of the closed-loop system asymptotically converge to zero, while the second and the third control laws make the state of the closed-loop system globally exponentially converge to zero. Moreover, the exponential convergence rate of the state of the closed-loop system can be arbitrarily assigned with the third control law. Simulation results show that the proposed control laws are effective.
Published in:
Automatic Control, IEEE Transactions on
(Volume:50
,
Issue:
6
)
Date of Publication: June 2005
- Page(s):
- 859 - 864
- ISSN :
- 0018-9286
- INSPEC Accession Number:
- 8473757
- Digital Object Identifier :
- 10.1109/TAC.2005.849248
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 13 June 2005
- Issue Date :
- June 2005
- Sponsored by :
- IEEE Control Systems Society
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