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Global asymptotic stabilization of an underactuated surface vessel

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3 Author(s)
Zeng Bo-Wen ; Coll. of Autom., Harbin Eng. Univ., Harbin, China ; Zhu Qi-Dan ; Yu Rui-Ting

Stablization of an underactuated surface vessel using only two available controls is a challenging problem. In most studies, it can be solved with persistent angular excitation, which can be well achieved by time-varying feedback control. But the Lyapunov function of time-varying system is rather difficult to choose. In this paper, a new time-varying state transformation is proposed, and a time-varying Lyapunov function can be easily to constructed to design a stabilization control law based on backstepping approach. Simulation results are provided to validate the theoretical results.

Published in:

Information and Automation (ICIA), 2012 International Conference on

Date of Conference:

6-8 June 2012