TY - GEN
T1 - Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus
AU - Ghommam, Jawhar
AU - Mnif, Faical
AU - El-Metwally, K. A.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Autonomous robotic systems
KW - Guidance navigation and control
KW - Mobile robots
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U2 - 10.3182/20080706-5-KR-1001.3119
DO - 10.3182/20080706-5-KR-1001.3119
M3 - Conference contribution
AN - SCOPUS:79961018161
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -