Title :
Asymptotic Stabilization Control of an Underactuated Surface Vessel with Optimization Based on Genetic Algorithm
Author :
Liu, Yang ; GUO, Chen ; Zhou, Ruolin
Author_Institution :
Coll. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian
Abstract :
A robust feedback stabilization control law for a 3-degrees-of-freedom underactuated surface vessel with actuator saturation, lateral drift and environmental disturbances is proposed. With the aid of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. And an optimized method based on genetic algorithm (GA) is presented to solve the unstability problem caused by actuator saturation. All signals in the closed-loop system are proved uniform bound by means of Lyapunov direct method. Numerical simulation results are given to illustrate the effectiveness of the proposed approach.
Keywords :
Lyapunov methods; actuators; asymptotic stability; closed loop systems; control system synthesis; feedback; genetic algorithms; robust control; ships; Lyapunov direct method; Lyapunov redesign; actuator saturation; asymptotic stabilization control; closed-loop system; environmental disturbances; genetic algorithm; high gain feedback techniques; lateral drift; robust feedback stabilization control law; underactuated surface vessel; Actuators; Backstepping; Control systems; Educational institutions; Genetic algorithms; Information technology; Marine vehicles; Sliding mode control; State feedback; Vehicle dynamics;
Conference_Titel :
Intelligent Information Technology Application, 2008. IITA '08. Second International Symposium on
Conference_Location :
Shanghai
Print_ISBN :
978-0-7695-3497-8
DOI :
10.1109/IITA.2008.138
