On the dynamic properties and control of underactuated surface vessels

Jawhar Ghommam*, Faïçal Mnif, Abderraouf BenAli, Nabil Derbel

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


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 languageEnglish
Pages (from-to)49-57
Number of pages9
JournalInternational Journal of Modelling, Identification and Control
Issue number1
Publication statusPublished - 2007
Externally publishedYes


  • 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


Dive into the research topics of 'On the dynamic properties and control of underactuated surface vessels'. Together they form a unique fingerprint.

Cite this