A simple robust control for global asymptotic position stabilization of underactuated surface vessels

Xie Wenjing; Ma Baoli; Fernando Tyrone; Iu Herbert Ho‐Ching

摘要

Summary xml:id="rnc3845-para-0001">Global asymptotic stabilization of underactuated surface vessels is generally achieved only by designing complicated controllers. This paper proposes a very simple control law that globally asymptotically stabilizes the position of underactuated surface vessel to a desired constant location and its velocities to zero. The proposed controller is independent of velocity signals and is robust to model parameters. It neither includes an observer nor an adaptive/sliding‐mode law. Controller development and stability analysis rely on a novel Lyapunov function and LaSalle's theorem. Furthermore, by extending the proposed control strategy, a saturated control law is also obtained ensuring the semiglobal asymptotic stability of position error system. Effectiveness of the proposed control schemes is demonstrated by simulation examples. Copyright ? 2017 John Wiley & Sons, Ltd. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”xml：id =“rnc3845-abs-0001”xml：lang =“en”> <标题类型=“main” >概要</ title> XML：ID =“RNC3845-PARA-0001”>仅通过设计复杂的控制器来实现欠抖动表面容器的全局渐近稳定。本文提出了一种非常简单的控制规律，可将疏松的表面容器的位置稳定到所需恒定位置及其速度为零。所提出的控制器独立于速度信号，并且对模型参数具有稳健性。它既不包括观察者也不是自适应/滑模法。控制器开发和稳定性分析依赖于新颖的Lyapunov函数和Lasalle定理。此外，通过延长所提出的控制策略，还获得了饱和对照定律，确保了位置误差系统的半球形渐近稳定性。通过模拟实施例证明了所提出的控制方案的有效性。版权？ 2017年John Wiley＆amp; SONS，LTD。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2017年第18期</span><b style="margin: 0 2px;">|</b><span>共16页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Xie Wenjing&option=202" target="_blank" rel="nofollow">Xie Wenjing;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Ma Baoli&option=202" target="_blank" rel="nofollow">Ma Baoli;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Fernando Tyrone&option=202" target="_blank" rel="nofollow">Fernando Tyrone;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Iu Herbert Ho‐Ching&option=202" target="_blank" rel="nofollow">Iu Herbert Ho‐Ching;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>School of Computer and Information ScienceSouthwest UniversityChongqing 400715 China;</p> <p>Seventh Research Division School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100191 China;</p> <p>School of Electrical Electronic and Computer Engineeringthe University of Western AustraliaCrawley 6009 WA Australia;</p> <p>School of Electrical Electronic and Computer Engineeringthe University of Western AustraliaCrawley 6009 WA Australia;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=underactuated surface vessels&option=203" rel="nofollow">underactuated surface vessels;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=global asymptotic stabilization&option=203" rel="nofollow">global asymptotic stabilization;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=simple robust control&option=203" rel="nofollow">simple robust control;</a> </p> <div class="translation"> 机译：废除表面血管;全球渐近稳定;简单的鲁棒控制; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" 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