“Semi-Global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship”

Authors: Kristin Y. Pettersen and Henk Nijmeijer,
Affiliation: NTNU, Department of Engineering Cybernetics and Eindhoven University of Technology
Reference: 2001, Vol 22, No 2, pp. 89-101.

Keywords: Nonlinear control, underactuated vehicles, disturbance adaptation, dynamic positioning

Abstract: We consider the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control and adaptation laws are derived using a combined integrator backstepping and averaging approach. Simulation results are presented.

PDF PDF (1280 Kb)        DOI: 10.4173/mic.2001.2.3

DOI forward links to this article:
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  title={{Semi-Global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship}},
  author={Pettersen, Kristin Y. and Nijmeijer, Henk},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}