Transverse function control of a motorboat. (March 2016)

• Record Type: Journal Article
• Authors: Hamel, Tarek; Samson, Claude
• Is Part Of: Automatica. Volume 65(2016)
• Page Start: 132
• Page End: 139
• Publication Date: 2016-03
• Subjects: Transverse function control approach -- Marine vehicles -- Nonlinear feedback control; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2015.11.040
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: The Transverse Function (TF) control approach is applied to the control of a generic motorboat endowed with a surge force along the stern–bow direction and a torque actuation to modify the boat's orientation. With respect to more conventional methods this approach allows for uniform practical stabilization of any smooth reference pose (i.e. position+orientation) trajectory. This includes fixed-poses in the absence of a sea-current, whose asymptotic stabilization cannot be achieved by classical feedback controllers, and non-feasible pose trajectories, i.e. trajectories that are not solutions to the system's motion equations and thus cannot be stabilized asymptotically.