Control of the hovercraft system: a flatness based approach

IEEE Conference on Control Applications - Proceedings

Volumn 1, Issue , 2000, Pages 692-697

  Sira Ramirez, Hebertt ^a   Ibanez, Carlos Aguilar ^a  

^a DEPARTAMENTO DE FÍSICA   (Mexico)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMIC FEEDBACK CONTROLLER; GLOBAL ASYMPTOTIC STABILIZATION; HOVERCRAFT SYSTEM; LIOUVILLIAN SYSTEMS; POSITION TRAJECTORIES; TRACKING ERROR;

AIR CUSHION VEHICLES; ASYMPTOTIC STABILITY; ERROR ANALYSIS; FEEDBACK CONTROL; LYAPUNOV METHODS; NONLINEAR CONTROL SYSTEMS; POSITION CONTROL;

CONTROL SYSTEM SYNTHESIS;

EID: 0034480963     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. R. W. Brockett, "Asymptotic stability and feedback linearization" In Differential Geometric Control Theory (R. W. Brockett, R. S. Millman and H. J. Suss-mann, Eds.), pp. 181-191,1983.
2. M. Fliess, J. Lévine, Ph. Martín and P. Rouchon, "Sur les systèmes nonlinéaires différentiellement plats", C. R. Acad. Sci. Paris, 1-315, pp. 619-624, 1992.
3. M. Fliess, J. Lévine, Ph. Martín and P. Rouchon, "Flatness and defect of nonlinear systems: Introductory theory and examples ", International Journal of Control, Vol. 61, pp. 1327-1361,1995-
4. M. Fliess, J. Lévine, Ph. Martín and P. Rouchon, " A Lie-Bäcklund approach to equivalence and flatness" IEEE Transactions on Automatic Control, Vol. 44, No. 5, pp. 922-937, May 1999.
5. T. I. Fossen, Guidance and Control of Ocean Vehicles John Wiley and Sons Ltd. Chichester, 1994.
6. J. M. Godhavn, "Nonlinear tracking of underac-tuated surface vessels" In Proceedings of the 35th IEEE Conference on Decision and Control. Kobe, Japan,pp. 987-991.
7. H. Nijmeijer and A. J. van der Schaft, Nonlinear Dynamical Control Systems, Springer-Verlag, New York, 1990.
8. K. Y. Pettersen and O. Egeland, " Exponential stabilization of an underactuated surface vessel" Proceedings of the 35th IEEE Conference on Decision and Control, Kobe, Japan, pp. 967-971,1996.
9. I. Fantoni, R. Lozano, F. Mazenc and K. Y. Pettersen, " Stabilization of a nonlinear underactuated hovercraft" Int. Journal of Robust and Nonlinear Control (to appear).
10. K. Y. Pettersen and O. Egeland, "Robust control of an underactuated surface vessel with thruster dynamics", In Proceedings of the 1997 American Control Conference, Albuquerque, New Mexico, 1997.
11. K. Y. Pettersen and T. L. Fossen, " Underactuated ship stabilization using integral control: Experimental results with Cybership I" in Proceedings of the 1998 IFAC Symposium on Nonlinear Control Systems NOLCOS'98 Enschede, The Netherlands, July 1998.
12. K. Y. Pettersen and H. Nijmeijer, "Global Practical Stabilization and Tracking for an underactuated Ship- A Combined Averaging and Backstepping Approach" Proceedings of the 1998 IFAC Conference on Systems Structure and Control, Nantes, France. July 1998, pp. 59-64.
13. M. Reyhanoglu, "Control and stabilization of an underactuated surface vessel" In Proceedings of the 35th IEEE Conference on Decision and Control, Kobe, Japan, pp. 2371-2376.
14. H. Sira-Ramirez, " On the control of the under-actuated ship : A trajectory planning approach", 37th IEEE Conference on Decision and Control, Phoenix, AZ, December 1999. (to appear).