Stabilization of Asymmetric Underactuated Ships With Full-State Constraints: From Underactuated to Nonholonomic Configuration  

作　　者：Zhongcai Zhang Linran Tian Heng Su Yuqiang Wu 

机构地区：[1]School of Engineering,Qufu Normal University,Rizhao 276826,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第12期2197-2199,共3页自动化学报（英文版）

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)。

摘　　要：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.

关 键 词：STABILIZATION system NONLINEAR 

分 类 号：U674.7[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]