Switching control approach for the robust practical stabilization of a unicycle-like marine vehicle under non-vanishing perturbations.

Abstract

This paper presents a solution to the robust practical stabilization of a unicycle-like marine vehicle, under non-vanishing current-induced perturbations. A hysteresis-based switching control strategy is proposed, rendering the system globally practically stable to a set G around the origin. The control scheme consists of three control laws; the first one is active out of G and drives the system trajectories into G, based on a dipole-like vector field. The other two control laws are active in G and alternately regulate the position and the orientation of the vehicle. The system is shown to be robust, in the sense that the vehicle enters and remains into G even if only a maximum bound of the perturbation is known. The efficacy of the solution is demonstrated through simulation results.

Bib

@inproceedings{DBLP:conf/icra/PanagouK11,
  author       = {Dimitra Panagou and
                  Kostas J. Kyriakopoulos},
  title        = {Switching control approach for the robust practical stabilization
                  of a unicycle-like marine vehicle under non-vanishing perturbations},
  booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
                  2011, Shanghai, China, 9-13 May 2011},
  pages        = {1525--1530},
  publisher    = {{IEEE}},
  year         = {2011},
  url          = {https://doi.org/10.1109/ICRA.2011.5979747},
  doi          = {10.1109/ICRA.2011.5979747},
  timestamp    = {Mon, 06 Nov 2017 12:15:03 +0100},
  biburl       = {https://dblp.org/rec/conf/icra/PanagouK11.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}