Full State-Feedback Stabilization of an Underactuated Unmanned Surface Vehicle

摘要：

This paper studies the stabilization control problem for an underactuated unmanned surface vehicle (USV) using only two independent propellers. Firstly, it transforms the whole dynamical system of unmanned surface vehicles into a cascade nonlinear system based on global diffeomorphism change of coordinate, and the stabilization problem of original system can be reduced to the stabilization control problem of a resulting cascade subsystem. Secondly, design respectively time-varying smooth full state feedback law via state-feedback and observer approach. Then, we demonstrate that the original system state is globally asymptotically stabilized to the desired configuration with the feedback control law. Lastly, the effectiveness of the proposed method is illustrated and validated by simulation results on a model ship.

关键词： unmanned surface vehicle underactuated state-feedback observer cascade system

作者: Yulei Liao Lei Wan Jiayuan Zhuang

作者单位: National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 70-74

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）