Global stable tracking control of underactuated ships with input saturation

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• 作者：Jiangshuai Huang^a ; ^{jhuang2@e.ntu.edu.sg" class="auth_mail" title="E-mail the corresponding author} ; Changyun Wen^a ; ^{ecywen@ntu.edu.sg" class="auth_mail" title="E-mail the corresponding author} ; Wei Wang^b ; ^{w.wang@buaa.edu.cn" class="auth_mail" title="E-mail the corresponding author} ; Yong-Duan Song^c ; ^{ydsong@cqu.edu.cn" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Tracking control ; Underactuated ships ; Input saturation
• 刊名：Systems & Control Letters
• 出版年：2015
• 出版时间：November 2015
• 年：2015
• 卷：85
• 期：Complete
• 页码：1-7
• 全文大小：569 K

文摘

In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.