Global uniform asymptotic stabilization of an underactuated surface vessel

DOI10.1109/TAC.2002.803554MaRDI QIDQ5267064zbMATH OpenOpenAlexFDO

Authors K. Pettersen, Frédéric Mazenc, H. Nijmeijer

Publication date 20 June 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.2002.803554

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Application models in control theory (93C95) Adaptive or robust stabilization (93D21)

Cited in

(27)

• Small-time stabilization of homogeneous cascaded systems with application to the unicycle and the slider examples
• Quadratic approximation and time-varying feedback laws
• Robust adaptive control of underactuated ships with input saturation
• Robust fixed-time trajectory tracking control of marine surface vessel with feedforward disturbance compensation
• Global time-varying stabilization of underactuated surface vessel
• Backstepping design for output feedback stabilization for a class of uncertain systems
• Finite‐time extended state observer‐based exact tracking control of an unmanned surface vehicle
• Tracking controllers of nonlinear output-constrained surface ships subjected to external disturbances
• 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
• Application of passivity and cascade structure to robust control against loss of actuator effectiveness
• Dynamic positioning for an underactuated marine vehicle using hybrid control
• Robust position stabilization of underactuated surface vessels with unknown modeling parameters via simple P/D-like feedback: the center manifold approach
• Further results on global stabilisation and tracking control for underactuated surface vessels with non-diagonal inertia and damping matrices
• Robust practical tracking control of an underactuated hovercraft
• Robust smooth control for global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters
• Adaptive finite-time sliding mode control design for finite-time fault-tolerant trajectory tracking of marine vehicles with input saturation
• Saturations-based nonlinear controllers with integral term: validation in real-time
• A backstepping controller for path-tracking of an underactuated autonomous airship
• Control of underactuated marine crafts with matched disturbances
• Asymptotic stabilization of some equilibria of an underactuated underwater vehicle
• Global \(\kappa \)-exponential asymptotic stabilization of underactuated surface vessels
• A time differences of arrival-based homing strategy for autonomous underwater vehicles
• Nonlinear model predictive position control for a tail-actuated robotic fish
• Design and experimental validation of a nonlinear controller for underactuated surface vessels
• Fixed-time trajectory tracking control for unmanned surface vessels in the presence of model uncertainties and external disturbances
• Fixed-time switching control of underactuated surface vessels with dead-zones: global exponential stabilization

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