Global uniform asymptotic stabilization and k-exponential trajectory tracking of underactuated surface ships with non-diagonal inertia/damping matrices

2011/11/04 by Baoli Ma, Bao-Li, Ma
Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Advanced Differential Equations and Dynamical Systems #Control and Dynamics of Mobile Robots #FOS: Mathematics #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.1111.1029

openalex publication_date 2011/11/04 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28

Abstract

In this work, we investigate the state stabilization and trajectory tracking problems of underactuated surface ships with full state model of having non-diagonal inertia and damping matrices. By combining the novel state transformations, the direct Lyapunov approach, and the nonlinear time-varying tools, the stabilization and the trajectory tracking controllers are developed respectively guaranteeing global uniform asymptotic convergence of the state to the desired set point and global exponential convergence to the desired reference trajectory via mild persistent exciting conditions. Simulation examples are given to illustrate the effectiveness of the proposed control schemes.

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