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- Title
Trajectory tracking control of underactuated surface vessel with full state constraints.
- Authors
Li, Lili; Dong, Kai; Guo, Ge
- Abstract
This paper addresses the trajectory tracking control problem for an underactuated surface vessel (USV) with full state constraints. In order to solve the inconvenience caused by the USV underactuated structure to the system controller design, the system's model is transformed into two subsystems. Furthermore, the constrained problem can be solved by the Barrier Lyapunov method. In the USV's controller design process, a tan‐type Barrier Lyapunov function (BLF) is constructed to ensure the stability of the transformed system and avoid the constrained states reaching the boundary value. Compared with the conventional USV controller design, constructing a tan‐type BLF to limit the states is more valuable and more in line with reality. Simulation results demonstrate the USV with full state constraints can track the desired trajectory.
- Subjects
LYAPUNOV functions; TRACKING control systems
- Publication
Asian Journal of Control, 2021, Vol 23, Issue 4, p1762
- ISSN
1561-8625
- Publication type
Article
- DOI
10.1002/asjc.2331