Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry
| Title: | Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry |
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| Authors: | Zaopeng Dong, Yabin Wang, Lifei Song, Mao Zheng, Shixin Chu, Yunsheng Mao |
| Source: | International Journal of Advanced Robotic Systems, Vol 16 (2019) |
| Publisher Information: | SAGE Publishing, 2019. |
| Publication Year: | 2019 |
| Collection: | LCC:Electronics LCC:Electronic computers. Computer science |
| Subject Terms: | Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95 |
| More Details: | Point stabilization control of a class of asymmetric underactuated high-speed unmanned marine vehicle is discussed, and a robust exponential stabilization control algorithm is proposed based on homogeneous theory, average system theory, and nonlinear backstepping technology. Firstly, point stabilization control problem of a high-speed underactuated unmanned marine vehicle with model asymmetry is formulated, and then global differential homeomorphism transformation is designed, in order to overcome the difficulties caused by unmanned marine vehicle with model asymmetry. Secondly, the control system is transformed into the standard form of homogeneous interference system by output state variable transformation design and input transformation design. A novel interference function is designed, and then difficulties caused by the higher order velocities in damping coefficients are solved, via homogeneous stability design and homogeneity degree analyzing the expansion of the designed new state variables. Thirdly, by introducing the virtual input of backstepping and the average system theory, point stabilization controller for the underactuated high-speed unmanned marine vehicle is proposed based on homogeneous theory, which could achieve global and periodic time-varying robust exponential stability, and then stability of the point stabilization control algorithm is proved by using homogeneous stability theory and average system stability theory. At last, the effectiveness and accuracy of the control algorithm proposed is verified by semi-physical simulation experiment carried out in our laboratory. |
| Document Type: | article |
| File Description: | electronic resource |
| Language: | English |
| ISSN: | 1729-8814 17298814 |
| Relation: | https://doaj.org/toc/1729-8814 |
| DOI: | 10.1177/1729881419832751 |
| Access URL: | https://doaj.org/article/c5bc07225aa848bb945f8e3b73a3c27b |
| Accession Number: | edsdoj.5bc07225aa848bb945f8e3b73a3c27b |
| Database: | Directory of Open Access Journals |
| ISSN: | 17298814 |
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| DOI: | 10.1177/1729881419832751 |
| Published in: | International Journal of Advanced Robotic Systems |
| Language: | English |