A Feasible Control Method for Incomplete Symmetrical Marine Robot
Lei Zhang, Zaopeng Dong, Yongsuo Yan, Yuyin Cao
Available Online February 2018.
- https://doi.org/10.2991/csece-18.2018.31How to use a DOI?
- USV; global asymptotic stabilization; underactuated control; cascade systems; backstepping
- 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.
- 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 -