A Feasible Control Method for Incomplete Symmetrical Marine Robot

DOI

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.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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  - Proceedings of the 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  - 10.2991/csece-18.2018.31
ID  - Zhang2018/02
ER  -