Paper Info
Title
How to find a minimum phase output in the exact tracking problem for the nonminimum phase underactuated surface ship
Abstract
This paper shows how to choose a suitable output, different from the usual ship center of mass, transforming a non-minimum phase problem in a problem with a stable internal dynamic. More precisely, we choose as output a point P, placed on the ship principal symmetry axis, in front of the ship at a distance p from the center of mass. We show that the exact tracking problem for a smooth reference trajectory γ always admits a solution for this particular output and that the resulting internal dynamics are stable, provided that ρ is sufficiently large and the reference curve γ is such that ||γ̇|| does not vary too much and ||γ̈||, ||γ̇̈|| are sufficiently small. Moreover, an asymptotic stabilization result is proven.
Year
DOI
Venue
2010
10.1109/CDC.2010.5717177
Decision and Control
Keywords
Field
DocType
asymptotic stability,ships,asymptotic stabilization,exact tracking problem,internal dynamic stability,minimum phase output,nonminimum phase problem,nonminimum phase underactuated surface ship,smooth reference trajectory
Mathematical optimization,Backstepping,Control theory,Phase problem,Exponential stability,Acceleration,Underactuation,Center of mass,Minimum phase,Mathematics,Trajectory
Conference
ISSN
ISBN
Citations 
0743-1546
978-1-4244-7745-6
2
PageRank 
References 
Authors
0.41
0
2
Name
Order
Citations
PageRank
Luca Consolini127631.16
Mario Tosques220516.95