- This is a
*Time-varying Continuous*Approach.

The dynamics of an underactuated ship is

## Notes-Global uniform asymptotic stabiliztion of an underactuated surface vessel

Feb 28, 2019...more- This is a
*Time-varying Continuous*Approach.

The dynamics of an underactuated ship is

- This is a
## Notes-Stability Theory

Feb 20, 2019...more## Nonlinear Systems

A nonlinear dynamic system can usually be represented by a set of nonlinear differential equations in the form

It is directly applicable to feedback control systems. The reason is that the equation can represent the close-loop dynamics of a feedback control system, with the control input being a function of state and time , and therefore disappearing in the closed-loop dynamics.

## Notes-Exponential Stabilization of an Underactuated Autonomous Surface Vessel

Feb 17, 2019...more- Time-invariant discontinous feedback laws are constructed to asymptotically stabilize the system to the desired configuration with exponential convergence rates.

## Adaptive/Robust Backstepping Techniques

Feb 2, 2019...more- Uncertainties
**Structured(or parametric) uncertainties**

Corresponds to inaccuracies on terms actually included in the model**Unstructured uncertainties(or unmodeled dynamics)**

Corresponds to inaccuracies on(i.e., underestimation of) the system order

- Uncertainties
## Backstepping Technique

Feb 2, 2019...moreConsider the system

where, are the states, is the control input, and are assumed to be known.

*Objective:*as## Neural Network-Assignment

Feb 1, 2019...more**Advanced Control Techniques**—Assignment## Genetic Algorithm-Assignment

Jan 24, 2019...more**Advanced Control Techniques**—Assignment