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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Main Authors:	Pengfei Zhang, Tingting Yang
Format:	article
Language:	EN
Published:	PeerJ Inc. 2021
Subjects:	Input saturation Asymptotically stable Globally stable USVs Electronic computers. Computer science QA75.5-76.95
Online Access:	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
_version_	1718409300324384768

Asymptotic stabilization of underactuated surface vehicles with actuator saturation

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