Asymptotic stabilization of underactuated surface vehicles with actuator saturation

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...

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Bibliographic Details
Main Authors: Pengfei Zhang, Tingting Yang
Format: Article
Language:English
Published: PeerJ Inc. 2021-11-01
Series:PeerJ Computer Science
Subjects:
Input saturation
Asymptotically stable
Globally stable
USVs
Online Access:https://peerj.com/articles/cs-793.pdf

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