Abstract
This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) whose dynamics features off-diagonal inertia and damping matrices. By using input and state transformations, the dynamic model of USV is converted into an equivalent system consisting of two cascade connected subsystems. For the transformed system, a continuous fractional power control framework is given to achieve global asymptotic stabilization of USVs. Then, the convergence under this framework is analyzed showing that the rate can be improved by adjusting the fractional power term. Finally, a continuous control algorithm is proposed to guarantee the global convergence rate of the USV system. Simulations are given to demonstrate the effectiveness of the presented method.
Highlights
Motivated by the above observations, this paper aims to address the stabilization problem of underactuated surface vessels (USVs) with off-diagonal dynamics using a continuous fractional power control method
The objective of this paper is to establish a control methodology that can globally asymptotically stabilize the USV system in (1), namely, the following holds true for any initial conditions lim t→+∞
We show that the control law in (36) and (37) is continuous when θ2 approaches
Summary
Dynamic positioning of underactuated surface vessels (USV) plays an important role in many offshore applications such as cable laying, mine sweeping, platform supplying, rock dumping and, especially, oil field operations like drilling, pipe-laying and diving support. Critical to the dynamic positioning problem of an USV is its capability for accurate and reliable control subject to environmental disturbances as well as to configuration related changes. It is an underactuated control problem, since the number of independent actuators of the system is less than that of the degree of freedom. The challenging problem is how to design a feedback control law that stabilizes both the position and the orientation of the vessel using only two available control inputs
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