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

被引：51

作者：

Pettersen, KY ^{[1
]}

Nijmeijer, H

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

[2] Univ Twente, Fac Math Sci, NL-7500 AE Enschede, Netherlands

[3] Tech Univ Eindhoven, Fac Mech Engn, NL-5600 MB Eindhoven, Netherlands

来源：

MODELING IDENTIFICATION AND CONTROL | 1999年 / 20卷 / 04期

关键词：

time-varying control; exponential convergence; underactuated surface vessels;

D O I：

10.4173/mic.1999.4.1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We solve both the global practical stabilization and tracking problem for an underactuated ship, using a combined integrator backstepping and averaging approach. Exponential convergence to an arbitrarily small neighbourhood of the origin and of the reference trajectory, respectively, is proved. Simulation results are included.

引用

页码：189 / 199

页数：11

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