The stabilization control of underactuated surface vessels |
| |
Authors: | Han Bing Zhao Guo-liang Meng Hao |
| |
Affiliation: | (1) College of Automation, Harbin Engineering University, 150001 Harbin, China;(2) Beijing Central Engineering Research Incorporation of Iron Steel Industry, 100053 Beijing, China |
| |
Abstract: | The problem of stabilization control of underactuated surface vessels with two independent control inputs is investigated in this paper. Through transformation, a cascade property of the system is revealed. And the original nonlinear system could be divided into two subsystems: a linear subsystem and a nonlinear subsystem. The stabilization laws are derived for the two subsystems separately. A smooth time—varying feedback stabilization law with exponentially convergence rate is obtained. The proposed stabilization law guarantees all the system states converge to the equilibrium exponentially. The aim of stabilization control of underactuated surface vessels is achieved. At last, the effectiveness of the proposed algorithm is illustrated by simulation tests. |
| |
Keywords: | underactuated surface vessels cascade system time-varying stabilization |
本文献已被 维普 万方数据 SpringerLink 等数据库收录! |