Global Asymptotic Stabilization of Underactuated Surface Vessels with Nonzero Off-diagonal Terms in Their System Matrices
This paper considers the global asymptotic stability controller for a class of asymmetric underactuated surface vessel.Different from the most existing results,we construct a new time-varying stabilizer such that the origin is a solution of the closed-loop system.For the synthesis of controller,the investigated underactuated model is converted into two cascade connected subsystems using input and state transformations.For these subsystems,it is shown that the stabilization problem of this note can be reduced to the one of the second subsystem.By combining the direct Lyapunov method and nonlinear time-varying tools,a time-varying stabilization controller is developed guaranteeing global uniform convergence of the full states to origin.The simulation results testify to the effectiveness of the presented control approach.
Underactuated surface vessel asymptotical stable backstepping control method time-varying stabilization
ZHANG Zhongcai WU Yuqiang
Key Laboratory of Measurement and Control of CSE,Ministry of Education,School of Automation,Southeas Institute of Automation,Qufu Normal University,Qufu 273165,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
6014-6018
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）