Title :
Global K-exponential Stabilization of Non-symmetrical Underactuated Surface Vessels
Author :
Guoli, Liu ; Jun, Gao
Author_Institution :
Dept. of Electr. & Mechinacal Enginerring Beijing, Inst. of Aeronaut. Mater., Beijing, China
Abstract :
A switching control law is proposed to control the non symmetrical underactuated surface vessel with non-integrable second-order nonholonomic constraints. First, global invertible transformations are used to transform the kinematics and dynamics of the vessel into two subsystems. Then, a Lyapunov like function is used to constructed an invariant set based on which the switching control law is designed. This control law guarantees global exponential convergence rates and global asymptotical stability, that is, the global K-exponential stability. The simulation results verifies the effectiveness.
Keywords :
Lyapunov methods; asymptotic stability; nonlinear control systems; set theory; Lyapunov-like function; asymptotical stability; exponential convergence rate; global K-exponential stabilization; global invertible transformation; invariant set; kinematics transform; nonintegrable second-order nonholonomic constraint; nonsymmetrical underactuated surface vessel dynamics; switching control law; Adaptive systems; Asymptotic stability; Conferences; Control systems; Stability analysis; Time varying systems; Vehicles; K-exponential stabilit; non-symmetrical underactuated surface vessel; nonholonomic systems;
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
DOI :
10.1109/ICEICE.2011.5778006
