Asymptotic Stabilization Control of an Underactuated Surface Vessel with Optimization Based on Genetic Algorithm

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.