On the dynamic properties and control of underactuated surface vessels
by Jawhar Ghommam, Faical Mnif, Abderraouf BenAli, Nabil Derbel
International Journal of Modelling, Identification and Control (IJMIC), Vol. 2, No. 1, 2007

Abstract: In the present work we study the problem of controlling the planar position and orientation of an autonomous surface vessel using two independent thrusters. It is first shown that although the system is not asymptotically stabilisable to a given equilibrium configuration using a time-invariant continuous feedback, it is strongly accessible and Small Time Locally Controllable (STLC) at any equilibrium. A discontinuous time invariant controller is then constructed to almost exponentially stabilises the system to the desired configuration. Simulation and concluding remarks are then exposed.

Online publication date: Sun, 01-Jul-2007

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