Control of a motorboat with the Transverse Function approach. Issue 19 (2015)

• Record Type: Journal Article
• Authors: Hamel, T.; Samson, C.
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 19(2015)
• Page Start: 25
• Page End: 32
• Publication Date: 2015
• Subjects: transverse function control approach -- marine vehicles -- nonlinear feedback control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.12.005
• Languages: English
• ISSNs: 2405-8963

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 reference position/orientation trajectory. This includes fixed-points in the absence of sea-currents, whose asymptotic stabilization cannot be achieved by classical feedback controllers, and non-feasible trajectories, i.e. trajectories that are not solutions to the system's motion equations and thus cannot be stabilized asymptotically.