“Global Practical Stabilization and Tracking for an Underactuated Ship - A Combined Averaging and Backstepping Approach”

Authors: Kristin Y. Pettersen and Henk Nijmeijer,
Affiliation: NTNU, Department of Engineering Cybernetics and University of Twente, Netherlands
Reference: 1999, Vol 20, No 4, pp. 189-200.

Keywords: Time-varying control, exponential convergence, underactuated surface vessels

Abstract: We solve both the global practical stabilization and tracking problem for an underactuated ship, using a combined integrator backstepping and averaging approach. Exponential convergence to an arbitrarily small neighbourhood of the origin and of the reference trajectory, respectively, is proved. Simulation results are included.

PDF PDF (1358 Kb)        DOI: 10.4173/mic.1999.4.1

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  title={{Global Practical Stabilization and Tracking for an Underactuated Ship - A Combined Averaging and Backstepping Approach}},
  author={Pettersen, Kristin Y. and Nijmeijer, Henk},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}