Adaptive tracking control of underactuated surface vessels

被引：16

作者：

Behal, A ^{[1
]}

Dawson, DM ^{[1
]}

Xian, B ^{[1
]}

Setlur, P ^{[1
]}

机构：

[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01) | 2001年

关键词：

D O I：

10.1109/CCA.2001.973940

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we design a continuous, time-varying tracking controller for an underactuated surface vessel in the presence of uncertainty associated with the hydrodynamic damping coefficients. A Lyapunov-based approach is used to ensure that the position/orientation tracking error is ultimately confined to a ball that can be made arbitrarily small. The result is achieved via the judicious design of a dynamic oscillator in conjuction with two state transformations. We also illustrate how the proposed tracking controller yields the same stability result for the stabilization problem.

引用

页码：645 / 650

页数：4

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