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Tracking control of an underactuated surface vessel

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2 Author(s)
Pettersen, K.Y. ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; Nijmeijer, H.

We consider tracking control of a surface vessel with only two control inputs. The surface vessel model has certain similarities with chained form systems, but cannot be transformed to chained form. In particular, the model has a drift vector field as opposed to the drift-free chained form systems. It is shown, however, that methods developed for tracking control of chained form systems, can be used for developing a tracking control law for the surface vessel. Through a coordinate transformation the model is put in a triangular-like form which makes it possible to use integrator backstepping to develop a tracking control law. The control law steers both the position variables and the course angle of the surface vessel, providing semi-global exponential stabilization of the desired trajectory

Published in:

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on  (Volume:4 )

Date of Conference:

16-18 Dec 1998