Asymptotic stabilization of an underactuated surface vessel via logic-based control

Tae Han Kim, Tamer Başar, In Joong Ha

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This paper describes a novel logic-based controller for the global asymptotic stabilization of an underactuated surface vessel, which has a larger degree-of-freedom than the number of control inputs. This system cannot be asymptotically stabilized using any time-invariant smooth feedback controller since the system violates the well-known Brockett's condition. Thus, the proposed controller can be viewed as a time-varying controller devised to circumvent this limitation. It consists of a supervising logic unit and subordinate time-invariant controllers. The asymptotic stability is rigorously proven using Lyapunov analysis, and the practicality of the proposed algorithm is also demonstrated through the simulations of head-in parking and parallel parking.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages4678-4683
Number of pages6
Volume6
DOIs
StatePublished - Jan 1 2002

Fingerprint

Stabilization
Controllers
Parking
Asymptotic stability
Feedback

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Kim, T. H., Başar, T., & Ha, I. J. (2002). Asymptotic stabilization of an underactuated surface vessel via logic-based control. In Proceedings of the American Control Conference (Vol. 6, pp. 4678-4683) https://doi.org/10.1109/ACC.2002.1025396

Asymptotic stabilization of an underactuated surface vessel via logic-based control. / Kim, Tae Han; Başar, Tamer; Ha, In Joong.

Proceedings of the American Control Conference. Vol. 6 2002. p. 4678-4683.

Research output: Chapter in Book/Report/Conference proceedingChapter

Kim, TH, Başar, T & Ha, IJ 2002, Asymptotic stabilization of an underactuated surface vessel via logic-based control. in Proceedings of the American Control Conference. vol. 6, pp. 4678-4683. https://doi.org/10.1109/ACC.2002.1025396
Kim TH, Başar T, Ha IJ. Asymptotic stabilization of an underactuated surface vessel via logic-based control. In Proceedings of the American Control Conference. Vol. 6. 2002. p. 4678-4683 https://doi.org/10.1109/ACC.2002.1025396
Kim, Tae Han ; Başar, Tamer ; Ha, In Joong. / Asymptotic stabilization of an underactuated surface vessel via logic-based control. Proceedings of the American Control Conference. Vol. 6 2002. pp. 4678-4683
@inbook{4a97c851eee14f8eaea5c6e75b3741a2,
title = "Asymptotic stabilization of an underactuated surface vessel via logic-based control",
abstract = "This paper describes a novel logic-based controller for the global asymptotic stabilization of an underactuated surface vessel, which has a larger degree-of-freedom than the number of control inputs. This system cannot be asymptotically stabilized using any time-invariant smooth feedback controller since the system violates the well-known Brockett's condition. Thus, the proposed controller can be viewed as a time-varying controller devised to circumvent this limitation. It consists of a supervising logic unit and subordinate time-invariant controllers. The asymptotic stability is rigorously proven using Lyapunov analysis, and the practicality of the proposed algorithm is also demonstrated through the simulations of head-in parking and parallel parking.",
author = "Kim, {Tae Han} and Tamer Başar and Ha, {In Joong}",
year = "2002",
month = "1",
day = "1",
doi = "10.1109/ACC.2002.1025396",
language = "English (US)",
isbn = "0780372980",
volume = "6",
pages = "4678--4683",
booktitle = "Proceedings of the American Control Conference",

}

TY - CHAP

T1 - Asymptotic stabilization of an underactuated surface vessel via logic-based control

AU - Kim, Tae Han

AU - Başar, Tamer

AU - Ha, In Joong

PY - 2002/1/1

Y1 - 2002/1/1

N2 - This paper describes a novel logic-based controller for the global asymptotic stabilization of an underactuated surface vessel, which has a larger degree-of-freedom than the number of control inputs. This system cannot be asymptotically stabilized using any time-invariant smooth feedback controller since the system violates the well-known Brockett's condition. Thus, the proposed controller can be viewed as a time-varying controller devised to circumvent this limitation. It consists of a supervising logic unit and subordinate time-invariant controllers. The asymptotic stability is rigorously proven using Lyapunov analysis, and the practicality of the proposed algorithm is also demonstrated through the simulations of head-in parking and parallel parking.

AB - This paper describes a novel logic-based controller for the global asymptotic stabilization of an underactuated surface vessel, which has a larger degree-of-freedom than the number of control inputs. This system cannot be asymptotically stabilized using any time-invariant smooth feedback controller since the system violates the well-known Brockett's condition. Thus, the proposed controller can be viewed as a time-varying controller devised to circumvent this limitation. It consists of a supervising logic unit and subordinate time-invariant controllers. The asymptotic stability is rigorously proven using Lyapunov analysis, and the practicality of the proposed algorithm is also demonstrated through the simulations of head-in parking and parallel parking.

UR - http://www.scopus.com/inward/record.url?scp=0036060686&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0036060686&partnerID=8YFLogxK

U2 - 10.1109/ACC.2002.1025396

DO - 10.1109/ACC.2002.1025396

M3 - Chapter

AN - SCOPUS:0036060686

SN - 0780372980

VL - 6

SP - 4678

EP - 4683

BT - Proceedings of the American Control Conference

ER -