Global Asymptotic Trajectory Tracking and Point Stabilization of Asymmetric Underactuated Ships with Non-Diagonal Inertia/Damping Matrices
In this work, we investigate the trajectory tracking and point stabilization problems of asymmetric underactuated surface ships with non-diagonal inertia and damping matrices. By combining the novel state and input transformations, the direct Lyapunov approach, and the nonlinear time-varying tools,...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2013-09-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/56671 |