Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
695136 | Automatica | 2016 | 8 Pages |
Abstract
The Transverse Function (TF) control approach is applied to the control of a generic motorboat endowed with a surge force along the stern–bow direction and a torque actuation to modify the boat’s orientation. With respect to more conventional methods this approach allows for uniform practical stabilization of any smooth reference pose (i.e. position+orientation) trajectory. This includes fixed-poses in the absence of a sea-current, whose asymptotic stabilization cannot be achieved by classical feedback controllers, and non-feasible pose trajectories, i.e. trajectories that are not solutions to the system’s motion equations and thus cannot be stabilized asymptotically.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Tarek Hamel, Claude Samson,