A backstepping-based low-and-high gain design for marine vehicles

DOI10.1002/RNC.1333MaRDI QIDQ3614741zbMATH OpenOpenAlexFDO

Authors Alec Bateman, Jason Hull, Zongli Lin

Publication date 9 March 2009

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.1333

zbMATH Keywords

actuator saturationbacksteppingnonlinear systemslow-and-high gain feedbackcontrol applications

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Feedback control (93B52) Application models in control theory (93C95)

Recommendations

• Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits
• Global stable tracking control of underactuated ships with input saturation
• Global tracking for underactuated ships with bounded feedback controllers
• A Backstepping Approach to Ship Course Control
• Low gain feedback

Cites work

• A universal formula for stabilization with bounded controls
• Adaptive backstepping control design for systems with unknown high-frequency gain
• Adaptive nonlinear output feedback tracking with a partial high-gain observer and backstepping
• Control of linear systems with saturating actuators
• Global high-gain-based observer and backstepping controller for generalized output-feedback canonical form

Cited in

(3)

• Fault-tolerant sliding mode attitude control for flexible spacecraft under loss of actuator effectiveness
• A nonlinear robust controller design for ship dynamic positioning based on \(L_2\)-gain disturbance rejection
• Nonlinear gain feedback adaptive DSC for a class of uncertain nonlinear systems with asymptotic output tracking

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