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Asymptotic stabilization of underactuated surface vehicles with actuator saturation.

ABSTRACT: 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.

SUBMITTER: Zhang P

PROVIDER: S-EPMC8627234 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature

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Asymptotic stabilization of underactuated surface vehicles with actuator saturation.

Zhang Pengfei P Yang Tingting T

PeerJ. Computer science 20211124

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. Simu ...[more]

PMID: 34901435

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