This paper considers the path following problem of underactuated marine vessels whose control imposes a challenging problem due to its under-actuated nature. The recently developed Dynamic Surface Control (DSC) design method is applied to overcome the problem of explosion of terms associated with the backstepping design procedure. It is shown that the exponential stability of the resulting closed loop dynamics can be proved using Lyapunov direct method. The feasibility of the proposed Dynamic Surface Controller is evaluated analytically and verified through computer simulations and experiments.
Path following control of underactuated marine vessels via dynamic surface control technique
2009
8 Seiten, 7 Bilder, 1 Tabelle, 13 Quellen
Conference paper
English
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