Stabilization control and simulation of an unmanned surface vessel

This paper addresses the asymptotic stabilization problem of an unmanned surface vessel. The unmanned vessel under consideration is propelled by a water-jet and not actuated in the sway direction. A backstepping control law is proposed to make the origin of the unmanned vessel asymptotically stable....

Full description

Saved in:
Bibliographic Details
Main Authors: Liu Zhilin, Yu Ruiting, Zhu Qidan
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic stability
Asymptotic stable
Backstepping
Feedback control
Marine vehicles
Sea surface
Solid modeling
Trajectory
Underactuated system
Unmanned surface vessel
Virtual simulation
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper addresses the asymptotic stabilization problem of an unmanned surface vessel. The unmanned vessel under consideration is propelled by a water-jet and not actuated in the sway direction. A backstepping control law is proposed to make the origin of the unmanned vessel asymptotically stable. The construction of the controller is facilitated by the introduction of several nonlinear coordinate changes. A virtual simulation system is designed by using Vega Prime. The effectiveness of the proposed control law is verified by simulation.
ISSN:1934-1768
2161-2927