TY - GEN
T1 - Robust global asymptotic position stabilization for uncertain underactuated surface vessels without velocity Measurement
AU - Xie, Wenjing
AU - Yan, Lixia
AU - Ma, Baoli
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/3
Y1 - 2016/8/3
N2 - Global asymptotic stabilization problem of underactuated surface vessels has been so far considered not only by designing complicated nonlinear control law, but also by requiring the velocity feedback or the known model parameters. This paper proposes a simple robust proportional (P) position stabilization static control law for underactuated surface vessels with unknown model parameters, which takes a simple linear form excluding velocity feedback, observer and adaptive law. A novel nonnegative function is for the first time constructed, together with Lyapunov direct method and Barbalat's lemma, showing that the proposed control law guarantees the position error and velocity variables globally asymptotically convergent to zero. The effectiveness of the proposed control scheme is demonstrated by the simulation example.
AB - Global asymptotic stabilization problem of underactuated surface vessels has been so far considered not only by designing complicated nonlinear control law, but also by requiring the velocity feedback or the known model parameters. This paper proposes a simple robust proportional (P) position stabilization static control law for underactuated surface vessels with unknown model parameters, which takes a simple linear form excluding velocity feedback, observer and adaptive law. A novel nonnegative function is for the first time constructed, together with Lyapunov direct method and Barbalat's lemma, showing that the proposed control law guarantees the position error and velocity variables globally asymptotically convergent to zero. The effectiveness of the proposed control scheme is demonstrated by the simulation example.
KW - Uncertain underactuated surface vessels
KW - global asymptotic position stabilization
KW - proportional feedback control
KW - robust control
UR - https://www.scopus.com/pages/publications/84983804167
U2 - 10.1109/CCDC.2016.7531707
DO - 10.1109/CCDC.2016.7531707
M3 - 会议稿件
AN - SCOPUS:84983804167
T3 - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
SP - 4135
EP - 4140
BT - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Chinese Control and Decision Conference, CCDC 2016
Y2 - 28 May 2016 through 30 May 2016
ER -