Observer Based Finite-Time Switched Controller of an Underactuated Surface Vessel

摘要：

In this work, a switched control law is proposed to make the desired set point of an underactuated surface vessel finite-time stabilization. The control law is separated into three actions. Each action makes the system have a double integrator subsystem and we use a finite-time controller to achieve a certain objective. In order to overcome the difficulties of measuring the linear and angular velocities of underactuated surface vessels, in the condition that only the position and orientation are measurable, we present second-order sliding-mode observers of the velocity u, v, and r for the vessels. Simulation results show that the control law is effective.

作者: Yan Yan Shuanghe Yu Jialu Du Kai Zheng

作者单位: School of Information Science and Technology,Dalian Maritime University,China

会议类型: 国际会议

会议名称: The 3rd International Symposium on Systems and Control in Aeronautics and Astronautics(第三届航空航天系统与控制国际会议 ISSCAA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1122-1126

在线出版日期: 2010-01-08（万方平台首次上网日期，不代表论文的发表时间）