Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices

DOI10.1016/j.automatica.2004.08.005zbMath1096.93022OpenAlexW2010956689MaRDI QIDQ705443

Jie Pan, Khac Duc Do

Publication date: 31 January 2005

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2004.08.005

zbMATH Keywords

disturbancesglobal asymptotic stabilityLyapunov direct methodunderactuated shipglobal tracking controlnon-zero off diagonal terms

Mathematics Subject Classification ID

Application models in control theory (93C95) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive or robust stabilization (93D21)

Related Items (23)

Fault detection and accommodation of saturated actuators for underactuated surface vessels in the presence of nonlinear uncertainties ⋮ Distributed event-triggered formation control of USVs with prescribed performance ⋮ Neural network-based fault-tolerant control of underactuated surface vessels ⋮ Connectivity-maintaining and collision-avoiding performance function approach for robust leader-follower formation control of multiple uncertain underactuated surface vessels ⋮ Global robust adaptive path following of underactuated ships ⋮ Global stable tracking control of underactuated ships with input saturation ⋮ Finite‐time extended state observer‐based exact tracking control of an unmanned surface vehicle ⋮ Extended bounded real lemma based sum of squares for static output feedback H_∞ heading control ⋮ 3D trajectory tracking of underactuated non-minimum phase underwater vehicles ⋮ Trajectory tracking control for underactuated autonomous vehicles via adaptive dynamic programming ⋮ Fixed-time switching control of underactuated surface vessels with dead-zones: global exponential stabilization ⋮ Point stabilization and trajectory tracking of underactuated surface vessels: a geometric control approach ⋮ Guaranteed performance design for distributed bounded containment control of networked uncertain underactuated surface vessels ⋮ Neural network-based output feedback control for reference tracking of underactuated surface vessels ⋮ Path tracking of underactuated ships with general form of dynamics ⋮ Further results on global stabilisation and tracking control for underactuated surface vessels with non-diagonal inertia and damping matrices ⋮ Global trajectory tracking control of underactuated surface vessels with non-diagonal inertial and damping matrices ⋮ Point-to-point navigation of underactuated ships ⋮ Robust Position Stabilization of Underactuated Surface Vessels With Unknown Modeling Parameters Via Simple P/D-Like Feedback: The Center Manifold Approach ⋮ Observer-based approximate optimal tracking control for time-delay systems with external disturbances ⋮ Adaptive-observer-based formation tracking of networked uncertain underactuated surface vessels with connectivity preservation and collision avoidance ⋮ Nonlinear dynamic model identification methodology for real robotic surface vessels ⋮ Robust global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Adaptive nonlinear control without overparametrization
• A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle.
• Global tracking control of underactuated ships by Lyapunov's direct method
• Universal controllers for stabilization and tracking of underactuated ships.
• Constructive nonlinear control
• Underactuated ship tracking control: Theory and experiments
• Adaptive nonlinear regulation: estimation from the Lyapunov equation
• A recursive technique for tracking control of nonholonomic systems in chained form
• Underactuated ship global tracking under relaxed conditions
• Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics

This page was built for publication: Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices