Title :
Robust Feedback Stabilization Control of an Underactuated Surface Vessel
Author :
Liu, Yang ; GUO, Chen ; Zhou, Ruolin
Author_Institution :
Coll. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China
fDate :
March 31 2009-April 2 2009
Abstract :
Based on diffeomorphism equivalent transformation and backstepping technology, a feedback control law is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints. With the aids of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. All signals in the closed-loop system are proved uniformly ultimately bounded by means of Lyapunov direct method. Numerical simulation results are given to illustrate the effectiveness of the proposed approach.
Keywords :
Lyapunov methods; closed loop systems; control system synthesis; feedback; robust control; ships; 3 DOF underactuated surface vessel; Lyapunov direct method; Lyapunov redesign; backstepping technology; closed-loop system; diffeomorphism equivalent transformation; nonholonomic acceleration constraint; robust feedback stabilization control; ship; Actuators; Backstepping; Control systems; Equations; Feedback control; Marine vehicles; Robust control; Sliding mode control; State feedback; Surges;
Conference_Titel :
Computer Science and Information Engineering, 2009 WRI World Congress on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-0-7695-3507-4
DOI :
10.1109/CSIE.2009.1093
