TY - GEN
T1 - Robust stabilization of underactuated surface vessels with parameter uncertainties
AU - Zhang, Bing
AU - Ma, Baoli
PY - 2010
Y1 - 2010
N2 - For regulation of an underactuated surface vessel with parameter uncertainties, a simple robust sliding-mode controller is proposed yielding global exponential convergence of the vessel's position and orientation to origin. First, a kinematic controller for surge and yaw velocities is designed guaranteeing global exponential convergence of states to origin despite of parameter uncertainties, then the sliding-mode controller for the true force and torque inputs is derived to ensure that the actual surge and yaw velocities converge to the desired ones in finite time. The proposed control scheme is verified by simulation.
AB - For regulation of an underactuated surface vessel with parameter uncertainties, a simple robust sliding-mode controller is proposed yielding global exponential convergence of the vessel's position and orientation to origin. First, a kinematic controller for surge and yaw velocities is designed guaranteeing global exponential convergence of states to origin despite of parameter uncertainties, then the sliding-mode controller for the true force and torque inputs is derived to ensure that the actual surge and yaw velocities converge to the desired ones in finite time. The proposed control scheme is verified by simulation.
KW - Parameter uncertainties
KW - Robust stabilization
KW - Sliding-mode control
KW - Underactuated surface vessel
UR - https://www.scopus.com/pages/publications/78650252465
M3 - 会议稿件
AN - SCOPUS:78650252465
SN - 9787894631046
T3 - Proceedings of the 29th Chinese Control Conference, CCC'10
SP - 547
EP - 552
BT - Proceedings of the 29th Chinese Control Conference, CCC'10
T2 - 29th Chinese Control Conference, CCC'10
Y2 - 29 July 2010 through 31 July 2010
ER -