Global stabilization control of underactuated ships with input saturation

Jiangshuai HUANG; Changyun WEN; Wei WANG; Yong-Duan SONG

doi:10.1109/ChiCC.2015.7259751

Global stabilization control of underactuated ships with input saturation

Jiangshuai HUANG
, Changyun WEN
, Wei WANG
, Yong-Duan SONG

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

3 Citations (Scopus)

Abstract

In this paper, stabilization control of an underactu-ated ship in the presence of input saturation is addressed. By introducing a virtual reference, the stabilization is transformed into a path following problem thus the error dynamics is divided into a cascade of two subsystems, and the torques in surge and yaw axis are designed separately using the backstepping technique. It is shown that the closed-loop system is stable and the mean-square errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.

Original language	English
Title of host publication	Proceedings of the 34th Chinese Control Conference
Editors	Qianchuan ZHAO, Shirong LIU
Publisher	IEEE
Pages	883-888
Number of pages	6
ISBN (Electronic)	9789881563897
DOIs	https://doi.org/10.1109/ChiCC.2015.7259751
Publication status	Published - Jul 2015
Externally published	Yes

Keywords

Input saturation
Stabilization control
Underactuated ships

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10.1109/ChiCC.2015.7259751

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title = "Global stabilization control of underactuated ships with input saturation",

abstract = "In this paper, stabilization control of an underactu-ated ship in the presence of input saturation is addressed. By introducing a virtual reference, the stabilization is transformed into a path following problem thus the error dynamics is divided into a cascade of two subsystems, and the torques in surge and yaw axis are designed separately using the backstepping technique. It is shown that the closed-loop system is stable and the mean-square errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.",

keywords = "Input saturation, Stabilization control, Underactuated ships",

author = "Jiangshuai HUANG and Changyun WEN and Wei WANG and Yong-Duan SONG",

year = "2015",

month = jul,

doi = "10.1109/ChiCC.2015.7259751",

language = "English",

pages = "883--888",

editor = "Qianchuan ZHAO and Shirong LIU",

booktitle = "Proceedings of the 34th Chinese Control Conference",

publisher = "IEEE",

}

Global stabilization control of underactuated ships with input saturation. / HUANG, Jiangshuai; WEN, Changyun; WANG, Wei et al.
Proceedings of the 34th Chinese Control Conference. ed. / Qianchuan ZHAO; Shirong LIU. IEEE, 2015. p. 883-888 7259751.

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

TY - GEN

T1 - Global stabilization control of underactuated ships with input saturation

AU - HUANG, Jiangshuai

AU - WEN, Changyun

AU - WANG, Wei

AU - SONG, Yong-Duan

PY - 2015/7

Y1 - 2015/7

N2 - In this paper, stabilization control of an underactu-ated ship in the presence of input saturation is addressed. By introducing a virtual reference, the stabilization is transformed into a path following problem thus the error dynamics is divided into a cascade of two subsystems, and the torques in surge and yaw axis are designed separately using the backstepping technique. It is shown that the closed-loop system is stable and the mean-square errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.

AB - In this paper, stabilization control of an underactu-ated ship in the presence of input saturation is addressed. By introducing a virtual reference, the stabilization is transformed into a path following problem thus the error dynamics is divided into a cascade of two subsystems, and the torques in surge and yaw axis are designed separately using the backstepping technique. It is shown that the closed-loop system is stable and the mean-square errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.

KW - Input saturation

KW - Stabilization control

KW - Underactuated ships

UR - https://www.scopus.com/pages/publications/84946541500

U2 - 10.1109/ChiCC.2015.7259751

DO - 10.1109/ChiCC.2015.7259751

M3 - Conference paper (refereed)

AN - SCOPUS:84946541500

SP - 883

EP - 888

BT - Proceedings of the 34th Chinese Control Conference

A2 - ZHAO, Qianchuan

A2 - LIU, Shirong

PB - IEEE

ER -

Global stabilization control of underactuated ships with input saturation

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Keywords

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