Robust position stabilization of underactuated surface vessels with unknown modeling parameters via simple P/D-like feedback: the center manifold approach

DOI10.1002/ASJC.968zbMATH Open1338.93329OpenAlexW2105418818MaRDI QIDQ2813962FDOQ2813962

Authors: W. J. Xie, Baoli Ma 

Publication date: 17 June 2016

Published in: Asian Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/asjc.968

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zbMATH Keywords

center manifoldparameter uncertaintiesunderactuated surface vesselsrobust position stabilization

Mathematics Subject Classification ID

Linear systems in control theory (93C05) Nonlinear systems in control theory (93C10) Adaptive or robust stabilization (93D21)

Cites Work

• Applications of centre manifold theory
• Point-to-point navigation of underactuated ships
• Global robust adaptive path following of underactuated ships
• Global tracking control of underactuated ships by Lyapunov's direct method
• Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices
• Global time-varying stabilization of underactuated surface vessel
• Stabilization of nonlinear systems via designed center manifold
• Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents
• Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
• Global \(\kappa \)-exponential asymptotic stabilization of underactuated surface vessels
• Exponential stabilization of an underactuated autonomous surface vessel
• Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics
• Universal controllers for stabilization and tracking of underactuated ships.
• Global \(\kappa\)-exponential way-point maneuvering of ships: theory and experiments
• Stabilization of nonlinear systems via the center manifold approach
• Title not available (Why is that?)
• Global uniform asymptotic stabilization of an underactuated surface vessel

Cited In (6)

• A simple robust control for global asymptotic position stabilization of underactuated surface vessels
• Robust smooth control for global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters
• Nonlinear model predictive control with terminal invariant manifolds for stabilization of underactuated surface vessel
• Global trajectory tracking control of underactuated surface vessels with non-diagonal inertial and damping matrices
• Robust global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters
• Point stabilization and trajectory tracking of underactuated surface vessels: a geometric control approach

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