Abstract
In this work, we investigate the tracking control problem of asymmetrical underactuated surface vessels with parameter uncertainties. The tracking error model is first derived via appropriate coordinate transformations, and is considered as a cascade structure composed of two subsystems. The Lyapunov redesign approach is employed to construct the control laws separately to stabilize the two subsystems with unknown model parameters. The cascade system theory is applied to prove the global uniform asymptotic convergence of the state trajectory to the reference one provided the desired yaw velocity is not vanishing. The effectiveness of the proposed control laws is verified by simulation examples.
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This work was supported by National Science and Technology Major Project (No. 2012CB821202), the Beijing Natural Science Foundation (Nos. 4122043, 4112034), and the National Natural Science Foundation of China (Nos. 60874012, 61174057).
Wenjing XIE received her B.S. degree from Southwest University, Chongqing, China, in 2008, and M.S. degree in Control Science and Engineering from Beihang University, Beijing, China, in 2011. She is currently a Ph.D. candidate of Control Engineering at Beihang University, and her research interests include nonlinear control of mechanical systems and motion control of nonholonomic robotic vehicles.
Hailing SUN received her B.S. degree from Shandong University, Jinan, China, in 2010. She is currently a M.S. degree candidate of Control Science and Engineering in Beihang University, and her research interests include nonlinear control and nonholonomic systems.
Baoli MA received his B.S. and M.S. degrees in Electrical Engineering and Control Engineering from Northwestern Polytechnic University, Xi’an, China. He received his Ph.D. degree in System and Control Science from Beihang University, Beijing, China. He is a currently a professor of Beihang University. His research interests include nonlinear control, robotics and automation.
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Xie, W., Sun, H. & Ma, B. Global asymptotic tracking of asymmetrical underactuated surface vessels with parameter uncertainties. J. Control Theory Appl. 11, 608–614 (2013). https://doi.org/10.1007/s11768-013-2258-9
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DOI: https://doi.org/10.1007/s11768-013-2258-9