Global Asymptotic Trajectory Tracking and Point Stabilization of Asymmetric Underactuated Ships with Non-Diagonal Inertia/Damping Matrices

In this work, we investigate the trajectory tracking and point stabilization problems of asymmetric underactuated surface ships with non-diagonal inertia and damping matrices. By combining the novel state and input transformations, the direct Lyapunov approach, and the nonlinear time-varying tools,...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2013-09, Vol.10 (9)
Main Authors: Bao-Li, Ma, Wen-Jing, Xie
Format: Article
Language:English
Subjects:
Asymmetry
Asymptotic properties
Controllers
Coordinate transformations
Damping
Inertia
Ships
Stabilization
Tracking control
Trajectory control
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Summary:In this work, we investigate the trajectory tracking and point stabilization problems of asymmetric underactuated surface ships with non-diagonal inertia and damping matrices. By combining the novel state and input transformations, the direct Lyapunov approach, and the nonlinear time-varying tools, the trajectory tracking controller is derived, guaranteeing global κ-exponential convergence of state trajectory to the reference one satisfying mild persistent exciting conditions. By properly designing the reference trajectory, the proposed tracking scheme is also generalized to achieve global uniform asymptotic point stabilization. Simulation examples are given to illustrate the effectiveness of the proposed control schemes.
ISSN:1729-8806
1729-8814
DOI:10.5772/56671