Transverse function control of a motorboat

• Tarek Hamel ^[2] ; Claude Samson ^[1]
  1. [1] Research Centre Inria Sophia Antipolis - Méditerranée

     Research Centre Inria Sophia Antipolis - Méditerranée

     Arrondissement de Grasse, Francia

     
  2. [2] I3S UNSA-CRNS, Sophia-Antipolis, France
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 65, 2016, págs. 132-139
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • 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 smooth reference pose (i.e. position+orientation) trajectory. This includes fixed-poses in the absence of a sea-current, whose asymptotic stabilization cannot be achieved by classical feedback controllers, and non-feasible pose trajectories, i.e. trajectories that are not solutions to the system’s motion equations and thus cannot be stabilized asymptotically.