Robust position tracking for underactuated vehicle by Lyapunov method

被引：3

作者：

Chen, YM ^{[1
]}

Han, ZZ

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai, Peoples R China

[2] Tianjin Polytech Univ, Dept Automat, Tianjin, Peoples R China

来源：

IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES | 2005年 / E88A卷 / 09期

关键词：

underactuated system; robust tracking; nonlinear control;

D O I：

10.1093/ietfec/e88-a.9.2460

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robust path following is an issue with practical importance to the ship industry. This paper studies the robust tracking problem for an underactuated navigator. The global robust controller is proposed to force the navigator to follow any smooth time-varying trajectory, despite the existence of the environmental disturbances. It is verified that the tracking errors are ultimately confined to an arbitrarily small ball of the origin.

引用

页码：2460 / 2463

页数：4

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