By Topic

Tracking for nonlinear underactuated surface vessels with generalized forces

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

3 Author(s)
G. J. Toussaint ; Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA ; T. Basar ; F. Bullo

Describes how to use backstepping to develop control laws to perform trajectory tracking for a nonlinear, underactuated surface vessel. The research extends earlier backstepping designs for underactuated vessels by explaining how to select outputs when generalized forces act on the vessel. The resulting control law can correct orientation errors to track linear trajectories and can track arcs of circles with a fixed offset. The paper provides detailed derivations along with simulation results to illustrate the approach

Published in:

Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

Date of Conference:

2000