Robust Global Asymptotic Stabilization of Underactuated Surface Vessels with Parameter Uncertainties
This paper investigates the position and the full-state stabilization problems of an underactuated surface vessel with parameter uncertainties. Two control schemes are proposed with the first one steering the vessel’s position and velocity to zero and the second guaranteeing the convergence of all states to zero. The controller design is based on the direct Lyapunov method, the Barbalat’s lemma and the sliding-mode technique. In both schemes, the global uniform asymptotic stability of the closedloop system is achieved despite parameter uncertainties. The effectiveness of the proposed control laws is verified by simulation results.
Underactuated surface vessels Parameter uncertainties Global asymptotic stabilization Position stabilization Full-state stabilization
Xie Wenjing Ma Baoli
School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
595-600
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）