TY - JOUR
T1 - Asymptotic backstepping stabilization of an underactuated surface vessel
AU - Ghommam, Jawhar
AU - Mnif, Faïçal
AU - Benali, Abderraouf
AU - Derbel, Nabil
PY - 2006/11
Y1 - 2006/11
N2 - 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.
AB - 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.
KW - Backstepping stabilization
KW - Chained forms
KW - Discontinuous control
KW - Nonholonomic constraints
KW - Nonlinear cascade systems
KW - Underactuated surface vessels
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U2 - 10.1109/TCST.2006.880220
DO - 10.1109/TCST.2006.880220
M3 - Article
AN - SCOPUS:33750414302
SN - 1063-6536
VL - 14
SP - 1150
EP - 1157
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 6
ER -