Proceedings of the 2018 International Conference on Computer Science, Electronics and Communication Engineering (CSECE 2018)

A Feasible Control Method for Incomplete Symmetrical Marine Robot

Authors
Lei Zhang, Zaopeng Dong, Yongsuo Yan, Yuyin Cao
Corresponding Author
Lei Zhang
Available Online February 2018.
DOI
https://doi.org/10.2991/csece-18.2018.31How to use a DOI?
Keywords
USV; global asymptotic stabilization; underactuated control; cascade systems; backstepping
Abstract
For the incomplete symmetrical underactuated USV (unmanned surface vehicle), this paper proposed a global asymptotic stabilization control method. The global diffeomorphism transformation for the USV model was performed twice in order to obtain the form of nonlinear cascade systems, so the stabilization problem of the original USV system was simplified to the stabilization of the cascade systems. Then the cascade system stabilization controller was designed based on Backstepping, realize the global asymptotic stabilization control of the incomplete symmetrical underactuated USV. Effectiveness and reliability of the research methods and the controller designed was vertified by simulation results.
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Proceedings
2018 International Conference on Computer Science, Electronics and Communication Engineering (CSECE 2018)
Part of series
Advances in Computer Science Research
Publication Date
February 2018
ISBN
978-94-6252-487-3
ISSN
2352-538X
DOI
https://doi.org/10.2991/csece-18.2018.31How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Lei Zhang
AU  - Zaopeng Dong
AU  - Yongsuo Yan
AU  - Yuyin Cao
PY  - 2018/02
DA  - 2018/02
TI  - A Feasible Control Method for Incomplete Symmetrical Marine Robot
BT  - 2018 International Conference on Computer Science, Electronics and Communication Engineering (CSECE 2018)
PB  - Atlantis Press
SP  - 147
EP  - 153
SN  - 2352-538X
UR  - https://doi.org/10.2991/csece-18.2018.31
DO  - https://doi.org/10.2991/csece-18.2018.31
ID  - Zhang2018/02
ER  -