L2-Gain-Based Practical Stabilization of an Underactuated Surface Vessel
To obtain a stabilizer for an underactuated surface vessel with disturbances, an L2-gain design is proposed. Surge, sway, and yaw motions are considered in the dynamics of a surface ship. To ob-tain a robust adaptive controller, a diffeomorphism transformation and the Lyapunov function are employed...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-03-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/9/3/341 |