Stabilization of Underactuated Surface Vessels: A Continuous Fractional Power Control Method
Source abstract
Abstract
This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) whose dynamics features off-diagonal inertia and damping matrices. By using input and state transformations, the dynamic model of USV is converted into an equivalent system consisting of two cascade connected subsystems. For the transformed system, a continuous fractional power control framework is given to achieve global asymptotic stabilization of USVs. Then, the convergence under this framework is analyzed showing that the rate can be improved by adjusting the fractional power term. Finally, a continuous control algorithm is proposed to guarantee the global convergence rate of the USV system. Simulations are given to demonstrate the effectiveness of the presented method.
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Research context
OpenAlex topics: Control and Dynamics of Mobile Robots · Adaptive Control of Nonlinear Systems · Advanced Differential Equations and Dynamical Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Automation, Dalian Maritime University, Dalian 110819, China
Funding
National Natural Science Foundation of China
References (32)
Show source-provided references
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