Tracking control of an underactuated autonomous surface vessel using switched feedback

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2006, Pages 3833-3838

  Reyhanoglu, Mahmut ^a   Bommer, Ard ^b  

^a EMBRY RIDDLE AERONAUTICAL UNIVERSITY   (United States)

^b EINDHOVEN UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL THEORY; ELECTRONICS INDUSTRY; FEEDBACK; INDUSTRIAL ELECTRONICS; LAWS AND LEGISLATION; SHIP STEERING EQUIPMENT;

ANNUAL CONFERENCE; BACK-STEPPING DESIGN; CHAINED FORMS; CO-ORDINATE TRANSFORMATION; CONTROL LAWS; FEEDBACK CONTROL LAWS; GLOBAL TRACKING; SECOND ORDERS; TRACKING CONTROLLERS; TRACKING CONTROLS; TRACKING PROBLEMS; UNDER-ACTUATED SYSTEMS; UNDERACTUATED;

CONTROL SYSTEMS;

EID: 50249159971     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2006.347539     Document Type: Conference Paper

References (21)

1. N.P.I. Aneke, H. Nijmeijer, and A.G. de Jager,"Tracking Control of Second-Order Chained Form Systems by Cascaded Backstepping," International Journal of Robust and Nonlinear Control, vol. 13, no. 2, 2003, pp. 95-115.
2. N.P.I. Aneke, Control of Underactuated Mechanical Systems, Ph.D. Dissertation, Eindhoven, The Netherlands, 2003.
3. H. Arai, K. Tanie, and N. Shiroma, "Nonholonomic Control of a Three-DOF Planar Underactuated Manipulator," IEEE Transactions on Robotics and Automation, vol. 14, 1998, pp. 681-695.
4. J.-M. Coron and E.-Y. Kerai,"Explicit Feedbacks Stabilizing the Attitude of a Rigid Spacecraft with Two Control Torques," IFAC Journal Automatica, vol. 32, 1996, pp. 669-677.
5. S. Dubowsky and E. Papadopoulos,"The Kinematics, Dynamics and Control of Free-flying and Free-floating Space Robotic Systems," IEEE Transactions on Robotics and Automation, vol. 9, no. 5, 1993, pp. 531-543.
6. I. Fantoni, R. Lozano, and M.W. Spong, "Energy Based Control of the Pendubot," IEEE Transactions on Automatic Control, vol. 45, 2000, pp. 725-729.
7. T.I. Fossen, Guidance and Control of Ocean Vehicles, John Wiley and Sons Inc., New York, NY; 1994.
8. H. Krishnan, M. Reyhanoglu, and N.H. McClamroch,"Attitude Stabilization of a Rigid Spacecraft Using two Control Torques: A Nonlinear Control Approach Based on the Spacecraft Attitude Dynamics," Automatica, vol. 30, no. 6, 1994, pp. 1023-1027.
9. H. Krishnan, M. Reyhanoglu, and N.H. McClamroch,"Attitude Stabilization of a Rigid Spacecraft Using Two Momentum Wheel Actuators," AIAA Journal of Guidance, Control and Dynamics, vol. 18, no. 2, 1995, pp. 256-263.
10. A.A.J. Lefeber, Tracking Control of Nonlinear Mechanical Systems, Ph.D. Dissertation, Enschede, The Netherlands, 2000.
11. A. De Luca, R. Mattone, and G. Oriolo, "Stabilization of an Underactuated Planar 2R Manipulator," International Journal of Robust and Nonlinear Control, vol. 24, 2000, pp. 181-198.
12. A.D. Mahindrakar, R.N. Banavar, and M. Reyhanoglu, "Controllability and Point-to-Point Control of 3-DOF Planar Horizontal Underactuated Manipulators," International Journal of Control, Vol.7 8, No. 1, 2005, pp. 1-13.
13. Y. Nakamura and R. Mukherjee,"Nonholonomic Motion Planning of Space Robots via a Bi-directional Approach," IEEE Transactions on Robotics and Automation, vol. 7, no. 4, 1991, pp. 500-514.
14. M. Reyhanoglu and N.H. McClamroch,"Planar Reorientation Maneuvers of Space Multibody Spacecraft Using Internal Controls," AIAA Journal of Guidance, Control and Dynamics, vol. 15, no. 6, 1992, pp. 1475-1480.
15. M. Reyhanoglu,"Exponential Stabilization of an Underactuated Autonomous Surface Vessel," IFAC Journal Automatica, Vol. 33, No. 12, 1997, pp. 2249-2254.
16. M. Reyhanoglu, A. J. van der Schaft, N.H. McClamroch, and I. Kolmanovsky,"Dynamics and Control of a Class of Underactuated Mechanical Systems," IEEE Transactions on Automatic Control, Vol. 44, No. 9, 1999, pp. 1663-1671.
17. M. Reyhanoglu, S. Cho, and N.H. McClamroch,"Discontinuous Feedback Control of a Class of Underactuated Mechanical Systems," International Journal of Robust and Nonlinear Control, Vol. 10, No. 4, 2000, pp. 265-281.
18. S. Sastry, Nonlinear Systems: Analysis, Stability and Control, Springer, New York, NY; 1999.
19. M.W. Spong,"The Swing up Control Problem for the Acrobot," IEEE Control Systems Magazine, vol. 15, no. 1, 1995, pp. 49-55.
20. G.C. Walsh and S.S. Sastry,"On Reorienting Linked Rigid Bodies Using Internal Motions," IEEE Transactions on Robotics and Automation, vol. 11, no. 1, 1995, pp. 139-145.
21. K.Y. Wichlund, O.J. Sordalen, and O. Egeland, "Control of Vehicles with Second-Order Nonholonomic Constraints: Underactuated Vehicles, "Proceedings of European Control Conference, 1995, pp. 3086-3091.