Control of a motorboat with the Transverse Function approach

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.
Type de document :
Autre publication
Conference paper. 2015, 〈10.1016/j.ifacol.2015.12.005〉
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Contributeur : Tarek Hamel <>
Soumis le : dimanche 5 juin 2016 - 20:00:15
Dernière modification le : lundi 5 novembre 2018 - 15:52:02




Tarek Hamel, Claude Samson. Control of a motorboat with the Transverse Function approach. Conference paper. 2015, 〈10.1016/j.ifacol.2015.12.005〉. 〈hal-01326793〉



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