Stabilization of Underactuated Surface Vessel Based on Backstepping Control Method

Abstract

AbstractTo address the problem of stabilization of underactuated surface vessels with parameter uncertainties and external disturbances, a stabilization control based on backstepping control method is designed, First, the conditions can make the system globally stable and prove the correctness of existing conditions using diffeomorphism transformation. Then the original stabilization problem can be changed into an equal new one, and backstepping method is used to construct the controller of the stabilization function. The controller has global asymptotic stability. Eventually, simulations of the stabilization control for the underactuated surface vessel with disturbances or without disturbances are performed. Results validate the effectiveness of the proposed method.KeywordsUnderactuated surface vesselsStabilization controlBacksteppingGlobal asymptotic stabilization