Semi-global practical stabilization and disturbance adaptation for an underactuated ship

K.Y. Pettersen; H. Nijmeijer

doi:10.4173/mic.2001.2.3

Semi-global practical stabilization and disturbance adaptation for an underactuated ship

K.Y. Pettersen, H. Nijmeijer

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

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Abstract

We consider the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control and adaptation laws are derived using a combined integrator backstepping and averaging approach. Simulation results are presented.

Original language	English
Pages (from-to)	89-101
Journal	Modeling, Identification and Control
Volume	22
Issue number	2
DOIs	https://doi.org/10.4173/mic.2001.2.3
Publication status	Published - 2001

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title = "Semi-global practical stabilization and disturbance adaptation for an underactuated ship",

abstract = "We consider the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control and adaptation laws are derived using a combined integrator backstepping and averaging approach. Simulation results are presented.",

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AB - We consider the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control and adaptation laws are derived using a combined integrator backstepping and averaging approach. Simulation results are presented.

U2 - 10.4173/mic.2001.2.3

DO - 10.4173/mic.2001.2.3

M3 - Article

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SP - 89

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JO - Modeling, Identification and Control

JF - Modeling, Identification and Control

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Semi-global practical stabilization and disturbance adaptation for an underactuated ship

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