Dynamic positioning for an underactuated marine vehicle using hybrid control

DOI10.1080/00207179.2013.828853zbMath1317.93194OpenAlexW2172147923MaRDI QIDQ5265675

Dimitra Panagou, Kostas J. Kyriakopoulos

Publication date: 28 July 2015

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2013.828853

zbMATH Keywords

external disturbanceshybrid controldynamic positioninglogic-based switchingunderactuated marine vehicles

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (8)

Optimization-based model reference adaptive control for dynamic positioning of a fully actuated underwater vehicle ⋮ Cascade-based tracking control for dynamic positioning vessels under unknown sea loads ⋮ Adaptive finite-time sliding mode control design for finite-time fault-tolerant trajectory tracking of marine vehicles with input saturation ⋮ A receding horizon stabilization approach to constrained nonholonomic systems in power form ⋮ Stabilisation of a relative equilibrium of an underactuated AUV on SE(3) ⋮ An optimal indirect control of underwater vehicle ⋮ Fixed-time trajectory tracking control for unmanned surface vessels in the presence of model uncertainties and external disturbances ⋮ Control of underactuated marine crafts with matched disturbances

Cites Work

• Unnamed Item
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• Global \(\kappa \)-exponential asymptotic stabilization of underactuated surface vessels
• On stability, \(L_2\)-gain and \(H_\infty\) control for switched systems
• Switched seesaw control for the stabilization of underactuated vehicles
• Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents
• Output feedback control of slender body underwater vehicles with current estimation
• Multiple Lyapunov functions and other analysis tools for switched and hybrid systems
• Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle
• Global uniform asymptotic stabilization of an underactuated surface vessel
• Global time-varying stabilization of underactuated surface vessel
• Planning Algorithms

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