This Article 
   
 Share 
   
 Bibliographic References 
   
 Add to: 
 
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb
 
 Search 
   
2009 WRI World Congress on Computer Science and Information Engineering
Robust Feedback Stabilization Control of an Underactuated Surface Vessel
Los Angeles, California USA
March 31-April 02
ISBN: 978-0-7695-3507-4
Based on diffeomorphism equivalent transformation and backstepping technology, a feedback control law is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints. With the aids of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. All signals in the closed-loop system are proved uniformly ultimately bounded by means of Lyapunov direct method. Numerical simulation results are given to illustrate the effectiveness of the proposed approach.
Citation:
Yang Liu, Chen Guo, Ruolin Zhou, "Robust Feedback Stabilization Control of an Underactuated Surface Vessel," csie, vol. 5, pp.46-50, 2009 WRI World Congress on Computer Science and Information Engineering, 2009
Usage of this product signifies your acceptance of the Terms of Use.