The stabilization control of underactuated surface vessels

Bing Han , Guo-liang Zhao , Hao Meng

Journal of Marine Science and Application ›› 2004, Vol. 3 ›› Issue (2) : 63 -68.

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Journal of Marine Science and Application ›› 2004, Vol. 3 ›› Issue (2) : 63 -68. DOI: 10.1007/BF02894336
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The stabilization control of underactuated surface vessels

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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

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Bing Han, Guo-liang Zhao, Hao Meng. The stabilization control of underactuated surface vessels. Journal of Marine Science and Application, 2004, 3(2): 63-68 DOI:10.1007/BF02894336

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