Global Adaptive Stabilization Control of Underactuated Ships with Input Saturation

被引：0
|
作者：
Huang, Jiangshuai [1 ]
Gao, Tingting [2 ]
Zhou, Yong [3 ]
机构：
[1] Chongqing Univ, Sch Automat, Chongqing 400044, Peoples R China
[2] Zhejiang Text & Fash Coll, Sch Mech & Elect Engn, Ningbo, Zhejiang, Peoples R China
[3] Yiheng Tech Co Ltd, Ningbo, Zhejiang, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
Underactuated ships; Nussbaum function; Input saturation; TRACKING CONTROL; SURFACE VESSEL; SYSTEMS;
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, global adaptive stabilization control of an underactuated ship in the presence of input saturation is investigated. By proposing a novel Nussbaum-type function, the augmented system approach is extended to the saturated and interconnected nonaffine nonlinear systems and Lyapunov stability is established. The uncertain parameters and external disturbances are not required to be in a known compact set. Globally asymptotically convergence of tracking errors has been established and a simulation example is given to illustrate the effectiveness of the proposed control scheme.
引用
收藏
页码：3281 / 3285
页数：5
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