Global Practical Stabilization and Tracking for an Underactuated Ship - A Combined Averaging and Backstepping Approach

Abstract

We solve both the global practical stabilization and tracking problem for an underactuated ship, using a combined integrator backstepping and averaging approach. Exponential convergence to an arbitrarily small neighbourhood of the origin and of the reference trajectory, respectively, is proved. Simulation results are included.

Keywords

• Time-varying control
• exponential convergence