Stabilization of Underactuated Surface Vessels: A Continuous Fractional Power Control Method

Stabilization of Underactuated Surface Vessels: A Continuous Fractional Power Control Method

This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) whose dynamics features off-diagonal inertia and damping matrices. By using input and state transformations, the dynamic model of USV is converted into an equivalent system consisting of tw...

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Bibliographic Details
Main Authors: Pengfei Zhang, Ge Guo
Format: Article
Language:English
Published: MDPI AG 2018-06-01
Series:Applied Sciences
Subjects:
under-actuated surface vessels
continuous control
fractional power control
Online Access:http://www.mdpi.com/2076-3417/8/7/1024

Internet

http://www.mdpi.com/2076-3417/8/7/1024

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