TY - JOUR
T1 - On the dynamic properties and control of underactuated surface vessels
AU - Ghommam, Jawhar
AU - Mnif, Faïçal
AU - BenAli, Abderraouf
AU - Derbel, Nabil
PY - 2007
Y1 - 2007
N2 - In the present work we study the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilisable to a given equilibrium configuration using a time-invariant continuous feedback, it is strongly accessible and Small Time Locally Controllable (STLC) at any equilibrium. A discontinuous time invariant controller is then constructed to almost exponentially stabilises the system to the desired configuration. Simulation and concluding remarks are then exposed.
AB - In the present work we study the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilisable to a given equilibrium configuration using a time-invariant continuous feedback, it is strongly accessible and Small Time Locally Controllable (STLC) at any equilibrium. A discontinuous time invariant controller is then constructed to almost exponentially stabilises the system to the desired configuration. Simulation and concluding remarks are then exposed.
KW - Accessibility
KW - Brockett integrator
KW - Controllability
KW - Discontinuous control
KW - Second order non-holonomic constraint
KW - Underactuated surface vessel
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U2 - 10.1504/IJMIC.2007.014326
DO - 10.1504/IJMIC.2007.014326
M3 - Article
AN - SCOPUS:34548240696
SN - 1746-6172
VL - 2
SP - 49
EP - 57
JO - International Journal of Modelling, Identification and Control
JF - International Journal of Modelling, Identification and Control
IS - 1
ER -