Global practical stabilization and tracking for an underactuated ship : a combined averaging and backstepping approach

K.Y. Pettersen, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

47 Citations (Scopus)
104 Downloads (Pure)

Abstract

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.
Original languageEnglish
Pages (from-to)189-199
JournalModeling, Identification and Control
Volume20
Issue number4
DOIs
Publication statusPublished - 1999

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