Global uniform stabilization of an underactuated surface vessel

F. Mazenc; K.Y. Pettersen; H. Nijmeijer

doi:10.1109/TAC.2002.803554

Global uniform stabilization of an underactuated surface vessel

F. Mazenc, K.Y. Pettersen, H. Nijmeijer

Research output: Contribution to journal › Article › Academic › peer-review

149 Citations (Scopus)

Abstract

Explicit formulas of smooth time-varying state feedbacks, which make the origin of an underactuated surface vessel globally uniformly asymptotically stable, are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time-periodic functions.

Original language	English
Pages (from-to)	1759-1762
Journal	IEEE Transactions on Automatic Control
Volume	47
Issue number	10
DOIs	https://doi.org/10.1109/TAC.2002.803554
Publication status	Published - 2002

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abstract = "Explicit formulas of smooth time-varying state feedbacks, which make the origin of an underactuated surface vessel globally uniformly asymptotically stable, are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time-periodic functions.",

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