ICRA 2011 Paper Abstract


Paper TuP111.2

Panagou, Dimitra (National Technical University of Athens), Kyriakopoulos, Kostas (National Technical Univ. of Athens)

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

Scheduled for presentation during the Regular Sessions "Marine and Underwater Robotics I" (TuP111), Tuesday, May 10, 2011, 13:55−14:10, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Robust/Adaptive Control of Robotic Systems, Underactuated Robots, Marine Robotics


This paper presents a solution to the robust practical 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 system trajectories into G, based on a dipole-like vector field. The other two control laws are active in G and alternately regulate the position and the orientation of the vehicle. The system is shown to be robust, in the sense that the vehicle enters and remains into G even if only a maximum bound of the perturbation is known. The efficacy of the solution is demonstrated through simulation results.



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