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...
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2021
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oai:doaj.org-article:7e1346c3c4894e6a879e199cdc1dd56c2021-11-26T15:05:50ZAsymptotic stabilization of underactuated surface vehicles with actuator saturation10.7717/peerj-cs.7932376-5992https://doaj.org/article/7e1346c3c4894e6a879e199cdc1dd56c2021-11-01T00:00:00Zhttps://peerj.com/articles/cs-793.pdfhttps://peerj.com/articles/cs-793/https://doaj.org/toc/2376-5992This 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.Pengfei ZhangTingting YangPeerJ Inc.articleInput saturationAsymptotically stableGlobally stableUSVsElectronic computers. Computer scienceQA75.5-76.95ENPeerJ Computer Science, Vol 7, p e793 (2021) |
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Input saturation Asymptotically stable Globally stable USVs Electronic computers. Computer science QA75.5-76.95 |
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Input saturation Asymptotically stable Globally stable USVs Electronic computers. Computer science QA75.5-76.95 Pengfei Zhang Tingting Yang Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
description |
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. |
format |
article |
author |
Pengfei Zhang Tingting Yang |
author_facet |
Pengfei Zhang Tingting Yang |
author_sort |
Pengfei Zhang |
title |
Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
title_short |
Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
title_full |
Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
title_fullStr |
Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
title_full_unstemmed |
Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
title_sort |
asymptotic stabilization of underactuated surface vehicles with actuator saturation |
publisher |
PeerJ Inc. |
publishDate |
2021 |
url |
https://doaj.org/article/7e1346c3c4894e6a879e199cdc1dd56c |
work_keys_str_mv |
AT pengfeizhang asymptoticstabilizationofunderactuatedsurfacevehicleswithactuatorsaturation AT tingtingyang asymptoticstabilizationofunderactuatedsurfacevehicleswithactuatorsaturation |
_version_ |
1718409300324384768 |