Motion planning and its feedback stabilization for underactuated ships: Virtual constraints approach

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 38, Issue 1, 2005, Pages 67-72

  Shiriaev, A ^a   Robertsson, A ^b   Pacull, P ^a   Fossen, T I ^c  

^a UMEÅ UNIVERSITY   (Sweden)

^b LUND INSTITUTE OF TECHNOLOGY   (Sweden)

^c NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); FEEDBACK; STABILIZATION;

3 DEGREES OF FREEDOM; CONTROL INPUTS; DYNAMICAL MODEL; FEEDBACK STABILIZATION; GEOMETRICAL PATH; MOTION GENERATION; UNDERACTUATED SHIPS; VIRTUAL CONSTRAINTS;

SHIPS;

EID: 79960704629     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20050703-6-cz-1902.01953     Document Type: Conference Paper

References (6)

1. Fossen T.I. Marine Control Systems. Marine Cybernetics, 2002.
2. Fossen T.I. and J.P. Strand. "Nonlinear Passive Weather Optimal Positioning Control for Ships and Rigs: Experimental Results, " Automatica, 37: 701-715, 2001.
3. Hauser J. and R. Hindman. "Maneuver regulation from trajectory tracking: Feedback linearizable systems, " in the Proceedings of the IFAC symposium on nonlinear control systems, Lake Tahoe, USA, pp. 595-600, 1995.
4. Shiriaev A. and C. Canudas de Wit C. "Virtual Constraints: a Tool for Orbital Stabilization of Nonlinear Systems - Theory and Examples, " in the Proceedings of the 6th IFAC Symposium on Nonlinear Control Systems, Stuttgart, 2004.
5. Shiriaev A., J. Perram, A. Robertsson and A. Sandberg "Explicit Formulae for General Integrals of Motion for a Class of Mechanical Systems Subject to Virtual Constraints, " in Proceedings of 43rd IEEE Conference on decision and Control, 2004.
6. Skjetne R., T.I. Fossen and P.V. Kokotović. "Robust Output Maneuvering for a Class of Nonlinear Systems, " Automatica, 40: 373-383, 2004.