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 language | English |
|---|---|
| Title of host publication | Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC |
| Volume | 17 |
| Edition | 1 PART 1 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: Jul 6 2008 → Jul 11 2008 |
Other
| Other | 17th World Congress, International Federation of Automatic Control, IFAC |
|---|---|
| Country | Korea, Republic of |
| City | Seoul |
| Period | 7/6/08 → 7/11/08 |
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Keywords
- Autonomous robotic systems
- Guidance navigation and control
- Mobile robots
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus. / Ghommam, Jawhar; Mnif, Faical; El-Metwally, K. A.
Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Vol. 17 1 PART 1. ed. 2008.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
UR - http://www.scopus.com/inward/record.url?scp=79961018161&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961018161&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.3119
DO - 10.3182/20080706-5-KR-1001.3119
M3 - Conference contribution
AN - SCOPUS:79961018161
SN - 9783902661005
VL - 17
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
ER -