Global uniform stabilization of an underactuated surface vessel

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

Research output: Contribution to journalArticleAcademicpeer-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 languageEnglish
Pages (from-to)1759-1762
JournalIEEE Transactions on Automatic Control
Volume47
Issue number10
DOIs
Publication statusPublished - 2002

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