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| Received:November 22, 2012Revised:March 16, 2013 |
| 基金项目:This work was supported by National Science and Technology Major Project (No. 2012CB821202), the Beijing Natural Science Foundation (Nos. 4122043, 4112034), and the National Natural Science Foundation of China (Nos. 60874012, 61174057). |
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| Global asymptotic tracking of asymmetrical underactuated surface vessels with parameter uncertainties |
| Wenjing XIE,Hailing SUN,Baoli MA |
| (School of Automation Science and Electrical Engineering, Beihang University) |
| Abstract: |
| In this work, we investigate the tracking control problem of asymmetrical underactuated surface vessels with parameter uncertainties. The tracking error model is first derived via appropriate coordinate transformations, and is considered as a cascade structure composed of two subsystems. The Lyapunov redesign approach is employed to construct the control laws separately to stabilize the two subsystems with unknown model parameters. The cascade system theory is applied to prove the global uniform asymptotic convergence of the state trajectory to the reference one provided the desired yaw velocity is not vanishing. The effectiveness of the proposed control laws is verified by simulation examples. |
| Key words: Asymmetrical underactuated surface vessels Trajectory tracking Parameter uncertainties Lyapunov redesign |
