The stabilization of an underactuated marine vehicle on a linear course is considered. In spite of being controllable and that Brocketts Theorem does not prevent the existence of a smooth pure feedback control solution, standard tools of nonlinear control as feedback linearization cannot be applied. A smooth, time invariant, globally converging control solution is designed on the basis of a simple and novel idea to derive motion control laws for underactuated systems. Robustness with respect to model parameter uncertainty and state measurement errors is discussed both analytically and through simulations.
Robust global stabilization of an Underactuated marine vehicle on a linear course by smooth time-invariant feedback
INDIVERI, GIOVANNI;
2000-01-01
Abstract
The stabilization of an underactuated marine vehicle on a linear course is considered. In spite of being controllable and that Brocketts Theorem does not prevent the existence of a smooth pure feedback control solution, standard tools of nonlinear control as feedback linearization cannot be applied. A smooth, time invariant, globally converging control solution is designed on the basis of a simple and novel idea to derive motion control laws for underactuated systems. Robustness with respect to model parameter uncertainty and state measurement errors is discussed both analytically and through simulations.File in questo prodotto:
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