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

页码：883 / 888

页数：6

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