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Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics

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4 Author(s)
Behal, A. ; Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA ; Dawson, D.M. ; Dixon, W.E. ; Fang, Y.

A continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small (i.e., global uniformly ultimately bounded, GUUB). The result is facilitated by fusing a filtered tracking error transformation with the dynamic oscillator design presented in Dixon et al. (1999). We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem. In addition, an extension is provided that illustrates that the proposed unified tracking/regulation controller can be applied to a twin rotor helicopter model

Published in:

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on  (Volume:3 )

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