Exponential Stabilization of an Underactuated Surface Vessel

Exponential Stabilization of an Underactuated Surface Vessel

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The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous or discontinuous state feedback.Furthermore, stabilization of an underactuated surface vessel Hutch/Bookcase is considered.Controllability properties of the surface vessels is presented, and a continuous periodic time-varying feedback law is proposed.

It Face Covers is shown that this feedback law exponentially stabilizes the surface vessel to the origin, and this is illustrated by simulations.