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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Autores principales: Pengfei Zhang, Tingting Yang
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Lenguaje:EN
Publicado: PeerJ Inc. 2021
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Acceso en línea:https://doaj.org/article/7e1346c3c4894e6a879e199cdc1dd56c
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spelling 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)
institution DOAJ
collection DOAJ
language EN
topic Input saturation
Asymptotically stable
Globally stable
USVs
Electronic computers. Computer science
QA75.5-76.95
spellingShingle 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
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