Design and experimental validation of a nonlinear controller for underactuated surface vessels

DOI10.1007/S11071-020-06058-8zbMath1517.93063MaRDI QIDQ6117159

Joel Reis, Carlos Silvestre, Wei Xie, David Cabecinhas

Publication date: 16 August 2023

Published in: Nonlinear Dynamics (Search for Journal in Brave)

zbMATH Keywords

robust nonlinear controltime-varying disturbance observersunderactuated autonomous vehicles

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems involving computers (process control, etc.) (93C83) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

Cites Work

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• Exponential Stabilization of an Underactuated Surface Vessel
• Global uniform asymptotic stabilization of an underactuated surface vessel
• Global time-varying stabilization of underactuated surface vessel
• Trajectory Tracking Control of Planar Underactuated Vehicles
• Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty

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