TY - GEN
T1 - Robust global asymptotic stabilization of underactuated surface vessels with parameter uncertainties
AU - Xie, Wenjing
AU - Ma, Baoli
PY - 2012
Y1 - 2012
N2 - This paper investigates the position and the full-state stabilization problems of an underactuated surface vessel with parameter uncertainties. Two control schemes are proposed with the first one steering the vessel's position and velocity to zero and the second guaranteeing the convergence of all states to zero. The controller design is based on the direct Lyapunov method, the Barbalat's lemma and the sliding-mode technique. In both schemes, the global uniform asymptotic stability of the closed-loop system is achieved despite parameter uncertainties. The effectiveness of the proposed control laws is verified by simulation results.
AB - This paper investigates the position and the full-state stabilization problems of an underactuated surface vessel with parameter uncertainties. Two control schemes are proposed with the first one steering the vessel's position and velocity to zero and the second guaranteeing the convergence of all states to zero. The controller design is based on the direct Lyapunov method, the Barbalat's lemma and the sliding-mode technique. In both schemes, the global uniform asymptotic stability of the closed-loop system is achieved despite parameter uncertainties. The effectiveness of the proposed control laws is verified by simulation results.
KW - Full-state stabilization
KW - Global asymptotic stabilization
KW - Parameter uncertainties
KW - Position stabilization
KW - Underactuated surface vessels
UR - https://www.scopus.com/pages/publications/84873563066
M3 - 会议稿件
AN - SCOPUS:84873563066
SN - 9789881563811
T3 - Chinese Control Conference, CCC
SP - 595
EP - 600
BT - Proceedings of the 31st Chinese Control Conference, CCC 2012
T2 - 31st Chinese Control Conference, CCC 2012
Y2 - 25 July 2012 through 27 July 2012
ER -