NDLI: Switching-based asymptotic stabilisation of underactuated ships with non-diagonal terms in their system matrices

Content Provider	IET Digital Library
Author	Zhang, Zhongcai Wu, Yuqiang
Abstract	Stabilisation is an issue of great practical importance to the ship industry. This study considers the global asymptotic stability controller for a class of underactuated surface vessel possessing non-diagonal inertia and damping matrices. For the synthesis of controller, the investigated underactuated model is first converted into two cascade connected subsystems using input and state transformations. For these subsystems, it is shown that the stabilisation problem of this study can be reduced to the one of the second subsystem. By combining the method of adding a power integrator and the direct Lyapunov approach, a finite time switching control strategy is developed guaranteeing global asymptotic convergence of the full states to origin. The simulation results testify to the effectiveness of the presented control approach.
Starting Page	972
Ending Page	980
Page Count	9
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 6, Apr (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/6
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.0869
Journal	IET Control Theory & Applications
Publisher Date	2014-12-09
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Asymptotic Stability Cascade Connected Subsystems Cascade System Control System Analysis Control System Synthesis Damping Damping Matrices Direct Lyapunov Approach Finite Time Switching Control Strategy Global Asymptotic Stability Controller Synthesis Linear Algebra Lyapunov Method Marine Control Marine System Control Matrix Algebra Nondiagonal Inertia Numerical Analysis Power Integrator Ship Industry Ships Stability in Control Theory Switching-based Underactuated Ship Asymptotic Stabilisation Synthesis Method System Matrix Time Varying Control System Time Varying System Underactuated Surface Vessel
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Practical backstepping control for underactuated ship path following associated with disturbances

Output-feedback stabilisation control for a class of under-actuated mechanical systems

Time-varying control for exponential stabilisation of the Brockett integrator

Stability and stabilisation of heterogeneous switched systems with arbitrary switching constraints

Event-triggered stabilisation for continuous-time switched non-linear systems under switching constraints

Asynchronous stabilisation of impulsive switched systems

Global uniform asymptotic stabilization and k-exponential trajectory tracking of underactuated surface ships with non-diagonal inertia/damping matrices

Stability and stabilisability of switched discrete-time systems based on structured Lyapunov functions

Non-fragile control of periodic piecewise linear time-varying systems with time delay

Switching-based asymptotic stabilisation of underactuated ships with non-diagonal terms in their system matrices

Similar Documents

Practical backstepping control for underactuated ship path following associated with disturbances

Output-feedback stabilisation control for a class of under-actuated mechanical systems

Time-varying control for exponential stabilisation of the Brockett integrator

Stability and stabilisation of heterogeneous switched systems with arbitrary switching constraints

Event-triggered stabilisation for continuous-time switched non-linear systems under switching constraints

Asynchronous stabilisation of impulsive switched systems

Global uniform asymptotic stabilization and k-exponential trajectory tracking of underactuated surface ships with non-diagonal inertia/damping matrices

Stability and stabilisability of switched discrete-time systems based on structured Lyapunov functions

Non-fragile control of periodic piecewise linear time-varying systems with time delay

Switching-based asymptotic stabilisation of underactuated ships with non-diagonal terms in their system matrices