On the dynamic properties and control of underactuated surface vessels

Jawhar Ghommam; Faïçal Mnif; Abderraouf BenAli; Nabil Derbel

doi:10.1504/IJMIC.2007.014326

On the dynamic properties and control of underactuated surface vessels

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

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	49-57
Number of pages	9
Journal	International Journal of Modelling, Identification and Control
Volume	2
Issue number	1
DOIs	https://doi.org/10.1504/IJMIC.2007.014326
Publication status	Published - 2007
Externally published	Yes

Keywords

Accessibility
Brockett integrator
Controllability
Discontinuous control
Second order non-holonomic constraint
Underactuated surface vessel

ASJC Scopus subject areas

Modelling and Simulation
Computer Science Applications
Applied Mathematics

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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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JF - International Journal of Modelling, Identification and Control

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On the dynamic properties and control of underactuated surface vessels

Abstract

Keywords

ASJC Scopus subject areas

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