Asymptotic backstepping stabilization of an underactuated surface vessel

Jawhar Ghommam*, Faïçal Mnif, Abderraouf Benali, Nabil Derbel

*المؤلف المقابل لهذا العمل

نتاج البحث: المساهمة في مجلةمراجعة النظراء

151 اقتباسات (Scopus)

ملخص

This brief addresses the problem of controlling the planar position and orientation of an autonomous underactuated surface vessel. Under realistic assumptions, we show, first, that there exists a natural change of coordinates that transforms the whole dynamical system into a cascade nonlinear system, and, second, the control problem of the resulting system can be reduced to the stabilization of a third-order chained form. A time-invariant discontinuous feedback law is derived to guarantee global uniform asymptotic stabilization of the system to the desired configuration. The construction of such a controller is based on the backstepping design approach. A simulation example is included to demonstrate the effectiveness of the suggested approach.

اللغة الأصليةEnglish
الصفحات (من إلى)1150-1157
عدد الصفحات8
دوريةIEEE Transactions on Control Systems Technology
مستوى الصوت14
رقم الإصدار6
المعرِّفات الرقمية للأشياء
حالة النشرPublished - نوفمبر 2006
منشور خارجيًانعم

ASJC Scopus subject areas

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