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

Wenjing Xie, Baoli Ma, Tyrone Fernando, Herbert Ho Ching Iu

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16 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)5028-5043
Number of pages16
JournalInternational Journal of Robust and Nonlinear Control
Volume27
Issue number18
DOIs
Publication statusPublished - 1 Dec 2017

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Robust control
Stabilization
Controllers
Lyapunov functions
Asymptotic stability

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T1 - A simple robust control for global asymptotic position stabilization of underactuated surface vessels

AU - Xie, Wenjing

AU - Ma, Baoli

AU - Fernando, Tyrone

AU - Iu, Herbert Ho Ching

PY - 2017/12/1

Y1 - 2017/12/1

N2 - 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.

AB - 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.

KW - global asymptotic stabilization

KW - simple robust control

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