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Robust Feedback Stabilization Control of an Underactuated Surface Vessel

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3 Author(s)
Yang Liu ; Coll. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China ; Chen Guo ; Ruolin Zhou

Based on diffeomorphism equivalent transformation and backstepping technology, a feedback control law is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints. With the aids of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. All signals in the closed-loop system are proved uniformly ultimately bounded by means of Lyapunov direct method. Numerical simulation results are given to illustrate the effectiveness of the proposed approach.

Published in:

Computer Science and Information Engineering, 2009 WRI World Congress on  (Volume:5 )

Date of Conference:

March 31 2009-April 2 2009