Robust Feedback Stabilization Control of an Underactuated Surface Vessel

Author

Liu, Yang ; GUO, Chen ; Zhou, Ruolin

Author_Institution

Coll. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China

Volume

5

fYear

2009

fDate

March 31 2009-April 2 2009

Firstpage

46

Lastpage

50

Abstract

Based on diffeomorphism equivalent transformation and backstepping technology, a feedback control law is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints. With the aids of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. All signals in the closed-loop system are proved uniformly ultimately bounded by means of Lyapunov direct method. Numerical simulation results are given to illustrate the effectiveness of the proposed approach.

Keywords

Lyapunov methods; closed loop systems; control system synthesis; feedback; robust control; ships; 3 DOF underactuated surface vessel; Lyapunov direct method; Lyapunov redesign; backstepping technology; closed-loop system; diffeomorphism equivalent transformation; nonholonomic acceleration constraint; robust feedback stabilization control; ship; Actuators; Backstepping; Control systems; Equations; Feedback control; Marine vehicles; Robust control; Sliding mode control; State feedback; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Information Engineering, 2009 WRI World Congress on

Conference_Location

Los Angeles, CA

Print_ISBN

978-0-7695-3507-4

Type

conf

DOI

10.1109/CSIE.2009.1093

Filename

5170494