Asymptotic Backstepping Stabilization of an Underactuated Surface Vessel

Ghommam, Jawhar; Mnif, F.; Benali, Abderraouf; Derbel, Nabil

doi:10.1109/tcst.2006.880220

Cited by 144 publications

(110 citation statements)

References 14 publications

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“…Several authors have contributed a set of novel ideas and strategies, mainly including time-varying feedback (Pettersen and Nijmeijer, 2001;Do et al, 2004;Do, 2010) and discontinuous feedback (Ghommam et al, 2006;Liu et al, 2012) methods. Pettersen and Nijmeijer (2001) applied the recursive technique to provide a high gain based local exponential stabilization result.…”

Section: Introductionmentioning

confidence: 99%

Adaptive neural path-following control for underactuated ships in fields of marine practice

2015

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Section: Introductionmentioning

confidence: 99%

Adaptive neural path-following control for underactuated ships in fields of marine practice

2015

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“…The under-actuated ship system belongs to non-complete system and does not satisfy the sufficient condition of Brocket's theorem. The steady state feedback control rate does not exist when the smooth continuous system stabilizes the system [4]. It also belongs to a special kind of nonlinear system, so it can not be solved by simple non-linear control method.…”

Section: Controller Designmentioning

confidence: 99%

Study on Stabilization Control System of Under Driven Ship

Xu¹,

Zhang²

2018

2018 International Conference on Medicine, Biology, Materials and Manufacturing (ICMBMM 2018)

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Abstract:In this paper, a conventional surface vessel is selected as the research object. It is pointed out that under specific control requirements, the system has an under-actuated characteristic and the problem of under-actuated ship stabilization control is studied. The dynamic mathematical model of ship motion is established and a simplified three-DOF under-actuated ship mathematical model is deduced. The non-complete characteristics of the system, the characteristic of balance point and the controllability of small time are analyzed.

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“…The bulk of existing research has focused on global stabilization and tracking control [80,81,82,83,84,85,86,87], and with a special concern to its parametric uncertainties [88,89,90].…”

Section: The Surface Vesselmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

249

142

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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Asymptotic Backstepping Stabilization of an Underactuated Surface Vessel

Cited by 144 publications

References 14 publications

Adaptive neural path-following control for underactuated ships in fields of marine practice

Adaptive neural path-following control for underactuated ships in fields of marine practice

Study on Stabilization Control System of Under Driven Ship

A survey of underactuated mechanical systems

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