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A simple robust control for global asymptotic position stabilization of underactuated surface vessels
Author(s) -
Xie Wenjing,
Ma Baoli,
Fernando Tyrone,
Iu Herbert HoChing
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3845
Subject(s) - underactuation , control theory (sociology) , exponential stability , lyapunov function , observer (physics) , controller (irrigation) , position (finance) , simple (philosophy) , surface (topology) , function (biology) , stability theory , mathematics , lyapunov stability , computer science , control (management) , nonlinear system , physics , artificial intelligence , philosophy , geometry , finance , epistemology , quantum mechanics , evolutionary biology , agronomy , economics , biology
Summary Global asymptotic stabilization of underactuated surface vessels is generally achieved only by designing complicated controllers. This paper proposes a very simple control law that globally asymptotically stabilizes the position of underactuated surface vessel to a desired constant location and its velocities to zero. The proposed controller is independent of velocity signals and is robust to model parameters. It neither includes an observer nor an adaptive/sliding‐mode law. Controller development and stability analysis rely on a novel Lyapunov function and LaSalle's theorem. Furthermore, by extending the proposed control strategy, a saturated control law is also obtained ensuring the semiglobal asymptotic stability of position error system. Effectiveness of the proposed control schemes is demonstrated by simulation examples. Copyright © 2017 John Wiley & Sons, Ltd.