Asymptotic stabilization of underactuated surface vehicles with actuator saturation
This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) with input saturation. A novel input transformation is presented, so that the USV system can be transformed to a cascade structure. For the obtained system, the improved fractional power co...
Enregistré dans:
| Auteurs principaux: | , |
|---|---|
| Format: | article |
| Langue: | EN |
| Publié: |
PeerJ Inc.
2021
|
| Sujets: | |
| Accès en ligne: | https://doaj.org/article/7e1346c3c4894e6a879e199cdc1dd56c |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| Résumé: | This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) with input saturation. A novel input transformation is presented, so that the USV system can be transformed to a cascade structure. For the obtained system, the improved fractional power control laws are proposed to ensure input signals do not exceed actuator constraints and enhance convergence rates. Finally, stabilization and parameter optimization algorithm of USVs are proposed. Simulations are given to demonstrate the effectiveness of the presented method. |
|---|