A switching control approach for the robust practical stabilization of a unicycle-like marine vehicle under non-vanishing perturbations
This paper presents a solution to the robust practical stabilization of a unicycle-like marine vehicle, under nonvanishing current-induced perturbations. A hysteresis-based switching control strategy is proposed, rendering the system globally practically stable to a set G around the origin. The control scheme consists of three control laws; the first one is active out of G and drives the system trajectories into G, based on a dipole-like vector field. The other two control laws are active in G and alternately regulate the position and the orientation of the vehicle. The system is shown to be robust, in the sense that the vehicle enters and remains into G even if only a maximum bound of the perturbation is known. The efficacy of the solution is demonstrated through simulation results.
Dimitra Panagou Kostas J. Kyriakopoulos
Control Systems Lab,School of Mechanical Engineering,National Technical University of Athens,Greece
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1525-1530
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）