Asymptotic stabilization of underactuated surface vehicles with actuator saturation

This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) with input saturation. A novel input transformation is presented, so that the USV system can be transformed to a cascade structure. For the obtained system, the improved fractional power control laws are proposed to ensure input signals do not exceed actuator constraints and enhance convergence rates. Finally, stabilization and parameter optimization algorithm of USVs are proposed. Simulations are given to demonstrate the effectiveness of the presented method.

Asymptotic Stabilization for a Class of Linear Fractional-Order Composite Systems

In this paper, we present the design for a decentralized control method comprising a series of local state feedback controllers for a class of linear fractional composite systems. In addition, the corresponding asymptotic stabilization criterion is derived. First, we design the local state feedback controllers for each subsystem of the linear fractional composite system. Then, based on the vector Lyapunov function, we combine these local state feedback controllers into a single decentralized controller through which the asymptotic stabilization criterion is proposed for the class of linear fractional composite system. Finally, numerical simulation of a class of linear fractional composite systems is used to verify the accuracy and effectiveness of the decentralized control method.