—Explicit formulas of smooth time-varying state feedbacks, which make the origin of an underactuated surface vessel globally uniformly asymptotically stable, are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time-periodic functions.
—In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally-exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an… (More)
—Snakes utilize irregularities in the terrain, such as rocks and vegetation, for faster and more efficient locomotion. This motivates the development of snake robots that actively use the terrain for locomotion, i.e., obstacle-aided locomotion. In order to accurately model and understand this phenomenon, this paper presents a novel nonsmooth (hybrid)… (More)
—The paper considers the dynamic positioning problem for a ship having only two independent controls, namely surge force and yaw moment. A time-varying feedback control law including integral action is developed and proved to exponentially stabilize both the North and East positions and the orientation of the ship. Experimental results are presented where… (More)
—A nonsmooth (hybrid) 3-D mathematical model of a snake robot (without wheels) is developed and experimentally validated in this paper. The model is based on the framework of nonsmooth dynamics and convex analysis that allows us to easily and systematically incorporate unilateral contact forces (i.e., between the snake robot and the ground surface) and… (More)
The paper considers feedback stabilization of the position and attitude of an autonomous underwater vehicle (AUV) with a reduced number of actuators. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. The paper shows that previous results on attitude stabilization of a spacecraft can be applied to exponentially stabilize… (More)