Referenced Items are not available for this document.
We design a continuous, time-varying tracking controller for an underactuated surface vessel in the presence of uncertainty associated with the hydrodynamic damping coefficients. A Lyapunov-based approach is used to ensure that the position/orientation tracking error is ultimately confined to a ball that can be made arbitrarily small. The result is achieved via the judicious design of a dynamic oscillator in conjunction with two state transformations. We also illustrate how the proposed tracking controller yields the same stability result for the stabilization problem
Published in:
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Date of Conference: 2001
- Page(s):
- 645 - 650
- Meeting Date :
- 05 Sep 2001-07 Sep 2001
- Print ISBN:
- 0-7803-6733-2
- INSPEC Accession Number:
- 7146767
- Conference Location :
- Mexico City
- Digital Object Identifier :
- 10.1109/CCA.2001.973940
- Product Type:
- Conference Publications
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