Abstract
In the present work we study the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilisable to a given equilibrium configuration using a time-invariant continuous feedback, it is strongly accessible and Small Time Locally Controllable (STLC) at any equilibrium. A discontinuous time invariant controller is then constructed to almost exponentially stabilises the system to the desired configuration. Simulation and concluding remarks are then exposed.
Original language | English |
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Pages (from-to) | 49-57 |
Number of pages | 9 |
Journal | International Journal of Modelling, Identification and Control |
Volume | 2 |
Issue number | 1 |
DOIs | |
Publication status | Published - 2007 |
Externally published | Yes |
Keywords
- Accessibility
- Brockett integrator
- Controllability
- Discontinuous control
- Second order non-holonomic constraint
- Underactuated surface vessel
ASJC Scopus subject areas
- Modelling and Simulation
- Computer Science Applications
- Applied Mathematics