Robust Feedback Stabilization Control of an Underactuated Surface Vessel

Based on diffeomorphism equivalent transformation and backstepping technology, a feedback control law is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints. With the aids of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. All signals in the closed-loop system are proved uniformly ultimately bounded by means of Lyapunov direct method. Numerical simulation results are given to illustrate the effectiveness of the proposed approach.