Global uniform asymptotic stabilization of an underactuated surface vessel

DOI10.1109/TAC.2002.803554zbMATH Open1364.93715OpenAlexW2103398491MaRDI QIDQ5267064FDOQ5267064

Frédéric Mazenc, H. Nijmeijer, K. Pettersen

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)

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

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