Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and...

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Main Authors: Fuguang Ding, Jing Wu, Yuanhui Wang
Format: Article
Language:English
Published: Hindawi Limited 2013-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2013/324954
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spelling doaj-2d7f46d2bd9a4064923c768b73e984532020-11-24T20:51:46ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472013-01-01201310.1155/2013/324954324954Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping ControlFuguang Ding0Jing Wu1Yuanhui Wang2Automation College, Harbin Engineering University, Harbin 150001, ChinaAutomation College, Harbin Engineering University, Harbin 150001, ChinaAutomation College, Harbin Engineering University, Harbin 150001, ChinaThe paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.http://dx.doi.org/10.1155/2013/324954
collection DOAJ
language English
format Article
sources DOAJ
author Fuguang Ding
Jing Wu
Yuanhui Wang
spellingShingle Fuguang Ding
Jing Wu
Yuanhui Wang
Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control
Mathematical Problems in Engineering
author_facet Fuguang Ding
Jing Wu
Yuanhui Wang
author_sort Fuguang Ding
title Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control
title_short Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control
title_full Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control
title_fullStr Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control
title_full_unstemmed Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control
title_sort stabilization of an underactuated surface vessel based on adaptive sliding mode and backstepping control
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2013-01-01
description The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.
url http://dx.doi.org/10.1155/2013/324954
work_keys_str_mv AT fuguangding stabilizationofanunderactuatedsurfacevesselbasedonadaptiveslidingmodeandbacksteppingcontrol
AT jingwu stabilizationofanunderactuatedsurfacevesselbasedonadaptiveslidingmodeandbacksteppingcontrol
AT yuanhuiwang stabilizationofanunderactuatedsurfacevesselbasedonadaptiveslidingmodeandbacksteppingcontrol
_version_ 1716801299620560896

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