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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Detalles Bibliográficos
Autores principales: Zhang, Pengfei, Yang, Tingting
Formato: Online Artículo Texto
Lenguaje:English
Publicado: PeerJ Inc. 2021
Materias:
Autonomous Systems
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8627234/
https://www.ncbi.nlm.nih.gov/pubmed/34901435
http://dx.doi.org/10.7717/peerj-cs.793
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author Zhang, Pengfei
Yang, Tingting
author_facet Zhang, Pengfei
Yang, Tingting
author_sort Zhang, Pengfei
collection PubMed
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.
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spelling pubmed-86272342021-12-10 Asymptotic stabilization of underactuated surface vehicles with actuator saturation Zhang, Pengfei Yang, Tingting PeerJ Comput Sci Autonomous Systems 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. PeerJ Inc. 2021-11-24 /pmc/articles/PMC8627234/ /pubmed/34901435 http://dx.doi.org/10.7717/peerj-cs.793 Text en © 2021 Zhang and Yang https://creativecommons.org/licenses/by/4.0/This is an open access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/) , which permits unrestricted use, distribution, reproduction and adaptation in any medium and for any purpose provided that it is properly attributed. For attribution, the original author(s), title, publication source (PeerJ Computer Science) and either DOI or URL of the article must be cited.
spellingShingle Autonomous Systems
Zhang, Pengfei
Yang, Tingting
Asymptotic stabilization of underactuated surface vehicles with actuator saturation
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 Autonomous Systems
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8627234/
https://www.ncbi.nlm.nih.gov/pubmed/34901435
http://dx.doi.org/10.7717/peerj-cs.793
work_keys_str_mv AT zhangpengfei asymptoticstabilizationofunderactuatedsurfacevehicleswithactuatorsaturation
AT yangtingting asymptoticstabilizationofunderactuatedsurfacevehicleswithactuatorsaturation

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