Switching control approach for the robust practical stabilization of a unicycle-like marine vehicle under non-vanishing perturbations

Panagou, D; Kyriakopoulos, K

dc.contributor.author	Panagou, D	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:52:48Z
dc.date.available	2014-03-01T02:52:48Z
dc.date.issued	2011	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/36078
dc.subject	Switching Control	en
dc.subject	Vector Field	en
dc.subject	Vehicle Control	en
dc.title	Switching control approach for the robust practical stabilization of a unicycle-like marine vehicle under non-vanishing perturbations	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ICRA.2011.5979747	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ICRA.2011.5979747	en
heal.publicationDate	2011	en
heal.abstract	This paper presents a solution to the robust prac- tical stabilization of a unicycle-like marine vehicle, under non- vanishing current-induced perturbations. A hysteresis-based switching control strategy is proposed, rendering the system globally practically stable to a set G around the origin. The control scheme consists of three control laws; the first one is active out of G and drives the	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ICRA.2011.5979747	en