Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Zaopeng Dong,Yunsheng Mao,Lifei Song,Mao Zheng,Yabin Wang,Shixin Chu

doi:10.1177/1729881419832751

Abstract

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.

Highlights

By analyzing the existing research results described above, we found that, at present, most of the research results on point stabilization control are based on traditional Unmanned marine vehicle (UMV) sailing at a relative low speed, while there are few related results for high-speed UMV
As all the coordinate transformations designed in this article are global differential homeomorphisms, we can make the conclusion that the control laws designed in (17) and (19) could achieve robust exponential point stabilization control for an underactuated high-speed UMV with model asymmetry
A robust exponential point stabilization control algorithm is proposed in this article for an underactuated high-speed UMV with model asymmetry

Summary

Introduction

Unmanned marine vehicle (UMV), usually used as a generic term to describe autonomous underwater vehicle (AUV) and unmanned surface vessel (USV), can be used to perform a multitude of different tasks, such as mineral resources sampling, offshore oil and gas operations, ocean engineering maintenance, and military reconnaissance, and it is attracting more and more interest from the scientific, commercial, and naval sectors.[1,2,3,4] much advancement have been. In order to solve the difficulties brought about by UMV model asymmetry, coordinate transformation needs to make the kinematic and dynamic equations of the UMV easier, and simplify the point stabilization control system according to the desired position and desired heading angle. The point stabilization control of the high-speed underactuated UMV at desired position pd 1⁄4 ðxd; ydÞ with desired heading angle ’d is transformed into the stabilization design of the new system (3) below, which is transformed from systems (1) and (2). Ζ_ 1⁄4 Fðχ; ζ; tÞ ð14Þ and system (14) can be decomposed into the following two subsystems (15) and (16)

A ð16Þ

Conclusion