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Global uniform asymptotic stabilization of an underactuated surface vessel

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F. Mazenc; K.Y. Pettersen; H. Nijmeijer
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Abstract:

Explicit formulas of smooth time-varying state feedbacks which make the origin of an underactuated surface vessel globally uniformly asymptotically stable are proposed. T...Show More

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Abstract:

Explicit formulas of smooth time-varying state feedbacks which make the origin of an underactuated surface vessel globally uniformly asymptotically stable are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time periodic functions.
Published in: Proceedings of the 41st IEEE Conference on Decision and Control, 2002.
Date of Conference: 10-13 December 2002
Date Added to IEEE Xplore: 10 March 2003
Print ISBN:0-7803-7516-5
Print ISSN: 0191-2216
DOI: 10.1109/CDC.2002.1184547
Conference Location: Las Vegas, NV, USA
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