Global practical stabilization and tracking for an underactuated ship - A combined averaging and backstepping approach

Authors
Pettersen, KY Nijmeijer, H
Citation
Ky. Pettersen et H. Nijmeijer, Global practical stabilization and tracking for an underactuated ship - A combined averaging and backstepping approach, MODEL IDENT, 20(4), 1999, pp. 189-199
Citations number
13
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
MODELING IDENTIFICATION AND CONTROL
ISSN journal
03327353 → ACNP
Volume
20
Issue
4
Year of publication
1999
Pages
189 - 199
Database
ISI
SICI code
0332-7353(199910)20:4<189:GPSATF>2.0.ZU;2-6
Abstract
We solve both the global practical stabilization and tracking problem for a n underactuated ship, using a combined integrator backstepping and averagin g approach. Exponential convergence to an arbitrarily small neighbourhood o f the origin and of the reference trajectory, respectively, is proved. Simu lation results are included.