Output Feedback Stabilization Control of Underactuated Surface Vessels

摘要：

In this work, the authors first solve the output feedback stabilization problem of underactuated surface vessels. The ships under consideration are not actuated in the sway direction. In order to overcome the difficulties of measuring the linear and angular velocities of an underactuated surface vessel, a high-gain observer is proposed to estimate the linear and angular velocities. In terms of separation principle, coordinate changes and a high-gain observer are combined to design global uniform asymptotic time-varying smooth output feedback stabilization control law. Simulation results demonstrate the effectiveness of the suggested approach.

关键词： Global Stabilization Control Time-varying Output Feedback High-gain Observer Underactuated Surface Vessel

作者: Wang Yan Zhu Qi-dan Liu Zhi-lin Yu Rui-ting

作者单位: College of Automation,Harbin Engineering University,Harbin 15001,China

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 3011-3015

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）