Asymptotic stabilization of underactuated surface vehicles with actuator saturation
This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) with input saturation. A novel input transformation is presented, so that the USV system can be transformed to a cascade structure. For the obtained system, the improved fractional power co...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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PeerJ Inc.
2021-11-01
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| Series: | PeerJ Computer Science |
| Subjects: | |
| Online Access: | https://peerj.com/articles/cs-793.pdf |
| _version_ | 1818341668007444480 |
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| author | Pengfei Zhang Tingting Yang |
| author_facet | Pengfei Zhang Tingting Yang |
| author_sort | Pengfei Zhang |
| collection | DOAJ |
| description | This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) with input saturation. A novel input transformation is presented, so that the USV system can be transformed to a cascade structure. For the obtained system, the improved fractional power control laws are proposed to ensure input signals do not exceed actuator constraints and enhance convergence rates. Finally, stabilization and parameter optimization algorithm of USVs are proposed. Simulations are given to demonstrate the effectiveness of the presented method. |
| first_indexed | 2024-12-13T16:02:27Z |
| format | Article |
| id | doaj.art-7e1346c3c4894e6a879e199cdc1dd56c |
| institution | Directory Open Access Journal |
| issn | 2376-5992 |
| language | English |
| last_indexed | 2024-12-13T16:02:27Z |
| publishDate | 2021-11-01 |
| publisher | PeerJ Inc. |
| record_format | Article |
| series | PeerJ Computer Science |
| spelling | doaj.art-7e1346c3c4894e6a879e199cdc1dd56c2022-12-21T23:39:08ZengPeerJ Inc.PeerJ Computer Science2376-59922021-11-017e79310.7717/peerj-cs.793Asymptotic stabilization of underactuated surface vehicles with actuator saturationPengfei ZhangTingting YangThis paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) with input saturation. A novel input transformation is presented, so that the USV system can be transformed to a cascade structure. For the obtained system, the improved fractional power control laws are proposed to ensure input signals do not exceed actuator constraints and enhance convergence rates. Finally, stabilization and parameter optimization algorithm of USVs are proposed. Simulations are given to demonstrate the effectiveness of the presented method.https://peerj.com/articles/cs-793.pdfInput saturationAsymptotically stableGlobally stableUSVs |
| spellingShingle | Pengfei Zhang Tingting Yang Asymptotic stabilization of underactuated surface vehicles with actuator saturation PeerJ Computer Science Input saturation Asymptotically stable Globally stable USVs |
| title | Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
| title_full | Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
| title_fullStr | Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
| title_full_unstemmed | Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
| title_short | Asymptotic stabilization of underactuated surface vehicles with actuator saturation |
| title_sort | asymptotic stabilization of underactuated surface vehicles with actuator saturation |
| topic | Input saturation Asymptotically stable Globally stable USVs |
| url | https://peerj.com/articles/cs-793.pdf |
| work_keys_str_mv | AT pengfeizhang asymptoticstabilizationofunderactuatedsurfacevehicleswithactuatorsaturation AT tingtingyang asymptoticstabilizationofunderactuatedsurfacevehicleswithactuatorsaturation |