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

K.Y. Pettersen, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

6 Citations (Scopus)
74 Downloads (Pure)

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 languageEnglish
Pages (from-to)89-101
JournalModeling, Identification and Control
Volume22
Issue number2
DOIs
Publication statusPublished - 2001

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