Exponential Stabilization of an Underactuated Surface Vessel

Exponential Stabilization of an Underactuated Surface Vessel

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The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous or discontinuous state feedback.Furthermore, stabilization of an underactuated surface vessel is considered.Controllability properties merlin wizard costume of the chocolate chip cookie purse surface vessels is presented, and a continuous periodic time-varying feedback law is proposed.It is shown that this feedback law exponentially stabilizes the surface vessel to the origin, and this is illustrated by simulations.