Robust Position Stabilization of Underactuated Surface Vessels With Unknown Modeling Parameters Via Simple P/D-Like Feedback: The Center Manifold Approach
In this work, two smooth time‐invariant control laws are proposed to achieve asymptotic position stabilization of underactuated surface vessels despite modeling parameter uncertainties. The proposed control laws take a strikingly simple linear proportional derivative (PD)‐like feedback form or just...
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| Veröffentlicht in: | Asian journal of control 2015-07, Vol.17 (4), p.1222-1232 |
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| container_title | Asian journal of control |
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| creator | Wen-Jing, Xie Bao-Li, Ma |
| description | In this work, two smooth time‐invariant control laws are proposed to achieve asymptotic position stabilization of underactuated surface vessels despite modeling parameter uncertainties. The proposed control laws take a strikingly simple linear proportional derivative (PD)‐like feedback form or just a simplest proportional (P)‐like one, where the former relies on measuring the relative position error and surge/yaw velocity and the latter relies on measuring only the relative position error, decreasing or minimizing the sensing cost. The stabilities of the closed‐loop systems for the both control laws are strictly proved via the center manifold approach despite the unknown model parameters. The effectiveness of the proposed control laws is verified by simulation examples. |
| doi_str_mv | 10.1002/asjc.968 |
| format | Article |
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The effectiveness of the proposed control laws is verified by simulation examples.</description><subject>center manifold</subject><subject>Control systems</subject><subject>parameter uncertainties</subject><subject>robust position stabilization</subject><subject>Underactuated surface vessels</subject><subject>Underactuated surface vessels, robust position stabilization, center manifold, parameter uncertainties</subject><issn>1561-8625</issn><issn>1934-6093</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp10E1v00AQBmALgUQpSPyElbhwcbv2er-4hZQGqrREpB_H1Xg9Jps43rC7Vik_pb-2blMhceA0M9KjeaU3y94X9KigtDyGuLZHWqgX2UGhWZULqtnLceeiyJUo-evsTYxrSkXBFD_I7n_4eoiJLHx0yfmeLBPUrnN_4OnyLbnqGwxg0wAJG7IcQgsWyTXGiF0kNy6tRrLp_W1Pzn2Dnet_kgUE2GLCEMm1A7J0212HZHF8ks_dBskpYlOD3XwilyskU-xHSc6hd63vGjLZ7YIHu3qbvWqhi_jueR5mV6dfLqdf8_n32bfpZJ5bTrnKuaKlbXgDUqOiHCkKxIpapIqD5rpqoVR1yazllWZtKaTWrK6krEHKUlN2mH3Y_x1jfw0Yk1n7IfRjpCmEFpRWSlWj-rhXNvgYA7ZmF9wWwp0pqHls3jw2b8bmR5rv6a3r8O6_zkyWZ9N_vIsJf__1EDZGSCa5ubmYGfa5kjPJLswZewCDmZUY</recordid><startdate>201507</startdate><enddate>201507</enddate><creator>Wen-Jing, Xie</creator><creator>Bao-Li, Ma</creator><general>Blackwell Publishing Ltd</general><general>Wiley Subscription Services, Inc</general><scope>BSCLL</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>JQ2</scope></search><sort><creationdate>201507</creationdate><title>Robust Position Stabilization of Underactuated Surface Vessels With Unknown Modeling Parameters Via Simple P/D-Like Feedback: The Center Manifold Approach</title><author>Wen-Jing, Xie ; Bao-Li, Ma</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c5058-5802cd5da79e805e0e6ee40ce085a9594fa28b23cc5493f267993b477ba772903</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>center manifold</topic><topic>Control systems</topic><topic>parameter uncertainties</topic><topic>robust position stabilization</topic><topic>Underactuated surface vessels</topic><topic>Underactuated surface vessels, robust position stabilization, center manifold, parameter uncertainties</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Wen-Jing, Xie</creatorcontrib><creatorcontrib>Bao-Li, Ma</creatorcontrib><collection>Istex</collection><collection>CrossRef</collection><collection>ProQuest Computer Science Collection</collection><jtitle>Asian journal of control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Wen-Jing, Xie</au><au>Bao-Li, Ma</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Robust Position Stabilization of Underactuated Surface Vessels With Unknown Modeling Parameters Via Simple P/D-Like Feedback: The Center Manifold Approach</atitle><jtitle>Asian journal of control</jtitle><addtitle>Asian Journal of Control</addtitle><date>2015-07</date><risdate>2015</risdate><volume>17</volume><issue>4</issue><spage>1222</spage><epage>1232</epage><pages>1222-1232</pages><issn>1561-8625</issn><eissn>1934-6093</eissn><abstract>In this work, two smooth time‐invariant control laws are proposed to achieve asymptotic position stabilization of underactuated surface vessels despite modeling parameter uncertainties. 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| subjects | center manifold Control systems parameter uncertainties robust position stabilization Underactuated surface vessels Underactuated surface vessels, robust position stabilization, center manifold, parameter uncertainties |
| title | Robust Position Stabilization of Underactuated Surface Vessels With Unknown Modeling Parameters Via Simple P/D-Like Feedback: The Center Manifold Approach |
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