By Topic

Robust stabilization of underactuated surface vessels with parameter uncertainties

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Bing Zhang ; The Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100083, China ; Baoli Ma

For regulation of an underactuated surface vessel with parameter uncertainties, a simple robust sliding-mode controller is proposed yielding global exponential convergence of the vessel's position and orientation to origin. First, a kinematic controller for surge and yaw velocities is designed guaranteeing global exponential convergence of states to origin despite of parameter uncertainties, then the sliding-mode controller for the true force and torque inputs is derived to ensure that the actual surge and yaw velocities converge to the desired ones in finite time. The proposed control scheme is verified by simulation.

Published in:

Proceedings of the 29th Chinese Control Conference

Date of Conference:

29-31 July 2010