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 | |
Publication status | Published - 2002 |