H-optimal tracking control techniques for nonlinear underactuated systems

G. J. Toussaint, T. Başar, F. Bullo

Research output: Contribution to journalConference articlepeer-review


This paper presents new techniques for controlling the motion of an underactuated vehicle when disturbances are present and only imperfect state measurements are available for feedback. A state feedback controller is developed and then it is converted to an imperfect state measurement feedback controller. The state feedback tracking control law uses an H-optimal design and produces a locally exponentially stable closed-loop system. The imperfect state measurement feedback controller combines the state feedback control law with an H-filter to estimate the states and achieves a modified form of disturbance attention. The state estimator exploits a unique structure in the nonlinear equations of motion to develop a direct solution. The MATLAB simulations illustrate both control algorithms for an underactuated ship model.

Original languageEnglish (US)
Pages (from-to)2078-2083
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2000
Event39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia
Duration: Dec 12 2000Dec 15 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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