Stabilization of Underactuated Surface Vessel Based on Backstepping Control Method

摘要：

　　To address the problem of stabilization of underactuated surface vessels with parameter uncertainties and external disturbances,a stabilization control based on backstepping control method is designed,First,the conditions can make the system globally stable and prove the correctness of existing conditions using diffeomorphism transformation.Then the original stabilization problem can be changed into an equal new one,and backstepping method is used to construct the controller of the stabilization function.The controller has global asymptotic stability.Eventually,simulations of the stabilization control for the underactuated surface vessel with disturbances or without disturbances are performed.Results validate the effectiveness of the proposed method.

关键词： Underactuated surface vessels Stabilization control Backstepping Global asymptotic stabilization

作者: Chuang Zhang Chen Guo

作者单位: Navigation College,Dalian Maritime University,Linghai Road,Dalian,Liaoning,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 117-125

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）