Dear Editor,This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify the design of controller, the original ship model is transformed into a ...Dear Editor,This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify the design of controller, the original ship model is transformed into a nonlinear cascade system with a minimum phase. Then, the stabilization of the cascade system is further processed into an equivalent stabilization of a reduced-order nonholonomic-like system. A discontinuous stabilization control method is proposed through a combination of state-scaling and state-dependent function transformations, nonlinear filters, and switching technologies. Stability analysis demonstrates that under the newly designed stabilization controller, the closed-loop system states are bounded and the desired state constraints are not violated.展开更多
基金supported by the National Natural Science Foundation of China(62173207,62073187,62073189)the Major Scientific and Technological Innovation Project in Shandong Province(2019JZZY011111)。
文摘Dear Editor,This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify the design of controller, the original ship model is transformed into a nonlinear cascade system with a minimum phase. Then, the stabilization of the cascade system is further processed into an equivalent stabilization of a reduced-order nonholonomic-like system. A discontinuous stabilization control method is proposed through a combination of state-scaling and state-dependent function transformations, nonlinear filters, and switching technologies. Stability analysis demonstrates that under the newly designed stabilization controller, the closed-loop system states are bounded and the desired state constraints are not violated.
