Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus

Jawhar Ghommam, Faical Mnif, K. A. El-Metwally

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider in this paper the tracking control problem of an underactuated surface vessel moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the surface vessel is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error cascade structure. The proposed controller is designed using Lyapunovs direct method and the popular backstepping techniques are utilized to stabilize the above system and force the tracking error to globally exponentially stabilized to the origin. Extension to unmeasured thruster dynamics is also considered. Simulation results that validate the proposed tracking methodology are presented and discussed.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Volume17
Edition1 PART 1
DOIs
Publication statusPublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

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Keywords

  • Autonomous robotic systems
  • Guidance navigation and control
  • Mobile robots

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ghommam, J., Mnif, F., & El-Metwally, K. A. (2008). Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.3119