Globally Asymptotic Stabilization of Underactuated Unmanned Surface Vessels
The stability control of the underactuated surface vessel is a new focus of nonlinear control system in the automatic control field. The systems of unmanned surface vessels with two water-jets are typically underatuated systems. In this paper, the three degree of freedom (DOF) planar model of unmanned surface vessels is built at first. The kinematic and dynamic models of underactuated unmanned surface vessels are converted to two subsystems with diffeomorphism and input transformation. Then we propose the control law based on the Lyapunov functions and backstepping techniques to make underactuated unmanned surface vessel systems to be globally asymptotically stable. The simulation experiments based on the proposed control law are carried out and the numerical simulation results are given to illustrate the effectiveness of the proposed control law.
underactuated system unmanned surface vessels nonlinear control globally asymptotical stabilization backstepping Lyapunov function
Yunyan Hu Lei Wan Fang Wang Bo Wang
College of Shipbuilding Engineering Harbin Engineering University Harbin, China
国际会议
太原
英文
161-165
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）