Open AccessAsymptotic stabilization of underactuated surface vehicles with actuator saturation
Author(s) -
Pengfei Zhang,
Tingting Yang
Publication year - 2021
Publication title -
peerj. computer science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.806
H-Index - 24
ISSN - 2376-5992
DOI - 10.7717/peerj-cs.793
Subject(s) - underactuation , control theory (sociology) , actuator , cascade , convergence (economics) , transformation (genetics) , computer science , saturation (graph theory) , mathematics , engineering , control (management) , artificial intelligence , biochemistry , chemistry , combinatorics , chemical engineering , economics , gene , economic growth
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.