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摘要
For a second-order nonholonomic constraint exists in underactuated surface vessel system, which makes the system not meet the Brockett's necessary condition, there is no continuously differentiable control law that can make the origin of the system asymptotically stable. After coordinate and feedback transformations, the stable feedback control laws are respectively proposed for two subsystems with finite-time control method, and then the dynamical positioning control problem is well solved by a discontinuous way. Results of computer simulation show the effectiveness of the proposed control method.
- 出版日期2008
- 单位暨南大学
