TY  - JOUR
U1  - Zeitschriftenartikel, wissenschaftlich - begutachtet (reviewed)
A1  - Kinjo, Leticia Mayumi
A1  - Ménard, Tomas
A1  - Wirtensohn, Stefan
A1  - Gehan, Olivier
A1  - Reuter, Johannes
T1  - Tracking Control of Docking Maneuvers for a Fully Actuated Surface Vessel Using Backstepping
JF  - IEEE Transactions on Control Systems Technology
N2  - In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.
KW  - Autonomous vessel
KW  - Backstepping control
KW  - Trajectory tracking
Y1  - 2024
SN  - 1063-6536
SS  - 1063-6536
U6  - https://doi.org/10.1109/TCST.2024.3385666
DO  - https://doi.org/10.1109/TCST.2024.3385666
N1  - Volltextzugriff für Angehörige der Hochschule Konstanz via IEEE Xplore möglich.
SP  - 8
S1  - 8
PB  - IEEE
ET  - Early Access
ER  -