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dc.contributor.authorSkjetne, Roger
dc.contributor.authorTeel, Andrew R.
dc.date.accessioned2021-03-03T11:58:48Z
dc.date.available2021-03-03T11:58:48Z
dc.date.created2021-01-20T14:32:15Z
dc.date.issued2020
dc.identifier.isbn978-1-7281-7448-8
dc.identifier.urihttps://hdl.handle.net/11250/2731398
dc.description.abstractThis paper presents a hybrid feedback controller suitable for orientation control of ships. A hybrid kinematic controller on the unit circle is constructed from the gradient of a synergistic potential function, which globally asymptotically stabilizes a desired orientation, with yaw rate viewed as control input. While this idea is not new, the potential function is novel and possesses some desired properties. The kinematic controller generates smooth reference signals for the desired velocity and acceleration, except at instances when the controller switches. Continuity of velocity and acceleration is achieved by controlling the yaw rate through a double integrator. Moreover, the velocity and acceleration converge to their desired values exponentially. The resulting closed-loop system is stable, provided the controller gains satisfy mild constraints. This is shown using a hybrid Lyapunov function.en_US
dc.language.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.ispartof2020 59th IEEE Conference on Decision and Control (CDC)
dc.titleA kinematic hybrid feedback controller on the unit circle suitable for orientation control of shipsen_US
dc.typeChapteren_US
dc.description.versionacceptedVersionen_US
dc.identifier.doihttps://doi.org/10.1109/CDC42340.2020.9304108
dc.identifier.cristin1875633
dc.description.localcode© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
cristin.ispublishedtrue
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