Global stable tracking control of underactuated ships with input saturation

被引：126
作者：
Huang, Jiangshuai [1 ]
Wen, Changyun [1 ]
Wang, Wei [2 ]
Song, Yong-Duan [3 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[3] Chongqing Univ, Sch Automat, Chongqing 400044, Peoples R China
来源：
SYSTEMS & CONTROL LETTERS | 2015年 / 85卷
基金：
中国国家自然科学基金; 新加坡国家研究基金会;
关键词：
Tracking control; Underactuated ships; Input saturation; STABILIZATION;
D O I：
10.1016/j.sysconle.2015.07.002
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme. (C) 2015 Elsevier B.V. All rights reserved.
引用
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页码：1 / 7
页数：7
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