On the dynamic properties and control of underactuated surface vessels

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

*المؤلف المقابل لهذا العمل

نتاج البحث: المساهمة في مجلةArticleمراجعة النظراء

2 اقتباسات (Scopus)

ملخص

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.

اللغة الأصليةEnglish
الصفحات (من إلى)49-57
عدد الصفحات9
دوريةInternational Journal of Modelling, Identification and Control
مستوى الصوت2
رقم الإصدار1
المعرِّفات الرقمية للأشياء
حالة النشرPublished - 2007
منشور خارجيًانعم

ASJC Scopus subject areas

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