Global stabilisation and tracking control of underactuated surface vessels

被引：108
|
作者：
Ghommam, J. [1 ]
Mnif, F. [1 ,2 ]
Derbel, N. [1 ]
机构：
[1] ENIS, Res Unit Mechatron & Autonomous Syst, Sfax, Tunisia
[2] Sultan Qaboos Univ, Muscat 123, Oman
来源：
IET CONTROL THEORY AND APPLICATIONS | 2010年 / 4卷 / 01期
关键词：
EXPONENTIAL STABILIZATION; MOBILE ROBOTS; FEEDBACK; SYSTEMS; SHIP;
D O I：
10.1049/iet-cta.2008.0131
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, the authors solve the problem of uniform global asymptotic stabilisation and global exponential tracking for an underactuated ship with only two propellers. A unified backstepping design methodology is proposed to tackle both the stabilisation and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple. The study also addresses the tracking problem with constant bias of environmental disturbances. Simulation results are provided to validate our theoretical results.
引用
收藏
页码：71 / 88
页数：18
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