Stabilization Control and Simulation of an Unmanned Surface Vessel

摘要：

This paper addresses the asymptotic stabilization problem of an unmanned surface vessel.The unmanned vessel under consideration is propelled by a water-jet and not actuated in the sway direction.A backstepping control law is proposed to make the origin of the unmanned vessel asymptotically stable.The construction of the controller is facilitated by the introduction of several nonlinear coordinate changes.A virtual simulation system is designed by using Vega Prime.The effectiveness of the proposed control law is verified by simulation.

作者: LIU Zhilin YU Ruiting ZHU Qidan

作者单位: College of Automation,Harbin Engineering University,Harbin,Heilongjiang,P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-4

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）