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

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

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 boundedness (GUUB). The result is facilitated by fusing a filtered tracking error transformation with a dynamic oscillator design. We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem

Published in:

IEEE Transactions on Automatic Control  (Volume:47 ,  Issue: 3 )