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
相关论文
共 50 条
  • [41] Neural adaptive robust control of underactuated marine surface vehicles with input saturation
    Shojaei, Khoshnam
    APPLIED OCEAN RESEARCH, 2015, 53 : 267 - 278
  • [42] Adaptive prescribed performance tracking control for underactuated unmanned surface ships with input quantization
    Zhang, Jiaming
    Liu, Xiang
    Wang, Xin
    Wang, Yang
    Wang, Yueying
    INTELLIGENCE & ROBOTICS, 2024, 4 (02): : 146 - 163
  • [43] Bottom-Following Control of Underactuated Unmanned Undersea Vehicles With Input Saturation
    Yu, Haomiao
    Guo, Chen
    Han, Yanan
    Shen, Zhipeng
    IEEE ACCESS, 2020, 8 (08): : 120489 - 120500
  • [44] Adaptive Neural Path Following Control of Underactuated Surface Vessels With Input Saturation
    Xia, Guoqing
    Wang, Xinwei
    Zhao, Bo
    Han, Zhiwei
    Zheng, Linhe
    IEEE ACCESS, 2020, 8 : 92529 - 92540
  • [45] Coordinating control for a fleet of underactuated ships
    Shiriaev, A.
    Robertsson, A.
    Freidovich, L.
    Johansson, R.
    GROUP COORDINATION AND COOPERATIVE CONTROL, 2006, 336 : 233 - 250
  • [46] Global tracking controller design for underactuated ships
    Jiang, ZP
    PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01), 2001, : 978 - 983
  • [47] Lyapunov design for global tracking of underactuated ships
    Jiang, ZP
    PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 2001, : 4210 - 4215
  • [48] Global stabilization of a chain of integrators with input saturation and disturbances: A new approach
    Gayaka, Shreekant
    Lu, Lu
    Yao, Bin
    AUTOMATICA, 2012, 48 (07) : 1389 - 1396
  • [49] Semi-global stabilization of singular linear systems with input saturation
    Lan, WY
    Huang, J
    PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, 2003, : 767 - 771
  • [50] Global stabilization of linear systems subject to input saturation and time delays
    Wu, Jiawei
    Huang, Ling
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2021, 358 (01): : 633 - 649
12345