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A Simple Robust Stabilization Control Law of Underactuated Surface Vessels

机译：欠驱动表面容器的简单鲁棒稳定控制律

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摘要

In this paper, a new time-varying static feedback control law is proposed solving the stabilization control problem of underactuated surface vessels. The control idea comes from the driving experience of human. By employing Lyapunov's direct method and Barbalat's lemma, it is proved strictly that the proposed controller globally asymptotically stabilizes the underactuated surface vessel to desired constant location and orientation, and forces its velocities to zero. The resulting controller is just a very simple linear function of forward/lateral position and orientation errors, without any modeling parameter. Compared with the previous work, the controller is more practical in real-word applications because of the unneeded velocity sensors and the robust property with respect to model parameters. Effectiveness of the proposed controller is demonstrated by numerical simulation.
机译：本文提出了一种新的时变静态反馈控制律，解决了欠驱动水面舰船的稳定控制问题。控制思想来自于人类的驾驶经验。通过使用Lyapunov的直接方法和Barbalat的引理，严格证明了所提出的控制器全局渐近地将欠驱动水面舰船稳定到所需的恒定位置和方向，并将其速度强制为零。所得的控制器只是向前/横向位置和方向误差的非常简单的线性函数，而无需任何建模参数。与以前的工作相比，由于不需要速度传感器以及相对于模型参数的鲁棒性，该控制器在实际应用中更加实用。数值仿真表明了所提出控制器的有效性。

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