2013/03/20 by Salah Laghrouche, Laghrouche, Salah, Mohamed Harmouche +3
Computer Science · Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Distributed Control Multi-Agent Systems #FOS: Mathematics #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems #Stability and Controllability of Differential Equations #math.OC
paper · pdf · doi:10.48550/arxiv.1303.5120
arxiv created 2013/03/20 · openalex publication_date 2013/03/20 · arxiv updated 2013/03/22 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main feature of our controller is the boundedness of the control inputs, which is an essential consideration in real life. In absence of velocity measurements, the controller works and remains stable with observers and can be used as an output feedback controller. Simulation results demonstrate the effectiveness of this method.