Global Stabilization Control of Underactuated Ships with Input Saturation

被引：0
|
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, Dept Automat, Beijing 100084, Peoples R China
[3] Chongqing Univ, Sch Automat, Chongqing 400044, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
Stabilization control; Underactuated ships; Input saturation; TRACKING CONTROL;
D O I：
暂无
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, stabilization control of an underactuated ship in the presence of input saturation is addressed. By introducing a virtual reference, the stabilization is transformed into a path following problem thus the error dynamics is divided into a cascade of two subsystems, and the torques in surge and yaw axis are designed separately using the backstepping technique. It is shown that the closed-loop system is stable and the mean-square errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.
引用
收藏
页码：883 / 888
页数：6
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