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DONG Zao-peng, WAN Lei, LI Yue-ming, ZHANG Lei, ZHANG Guo-cheng, LIAO Yu-lei. Block backstepping stabilization control of underactuated USV in polar coordinate system[J]. Journal of Traffic and Transportation Engineering, 2015, 15(4): 61-68. doi: 10.19818/j.cnki.1671-1637.2015.04.008
Citation: DONG Zao-peng, WAN Lei, LI Yue-ming, ZHANG Lei, ZHANG Guo-cheng, LIAO Yu-lei. Block backstepping stabilization control of underactuated USV in polar coordinate system[J]. Journal of Traffic and Transportation Engineering, 2015, 15(4): 61-68. doi: 10.19818/j.cnki.1671-1637.2015.04.008
shu

Block backstepping stabilization control of underactuated USV in polar coordinate system

doi: 10.19818/j.cnki.1671-1637.2015.04.008

  • School of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang, China

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  • Author Bio:

    DONG Zao-peng(1988-), male, doctoralstudent, +86-451-82519733, dongzaopeng@hrbeu.edu.cn

    WAN Lei(1964-), male, researcher, +86-451-82569037, wanlei103@163.com

  • Received Date: 2015-02-25
  • Publish Date: 2015-08-25
    Abstract
  • To the stabilization problem of underactuated unsymmetrical unmanned surface vessel(USV), a block backstepping approach with multiple inputs and multiple outputs(MIMO)was proposed in polar coordinate system.A drift angle polar coordinate system was designed as bodyfixed moving coordinate system, and Cartesian coordinate system was replaced by polar coordinate system as earth-fixed coordinate system.By combining the drift angle, yaw angle and polar angle, the kinematics and dynamics equations of USV horizontal plane motion in polar coordinate system were obtained, so that the underactuated problem in Cartesian coordinate systems was simplified to the full actuated problem in polar coordinate system.Based on Lyapunov stability theory and the backstepping approach, MIMO block backstepping stabilization control laws for underactuated unsymmetrical USV in polar coordinate system was designed.With the aid of semi-physical simulation platform in the laboratory, an USV model with 1.2 m and 17.5 kg was taken for stabilization control simulation experiment.The proposed block backstepping stabilization control algorithm was compared with the traditional backsteppingcontrol algorithm based on symmetry model.Comparison result shows that the convergence rates of position and yaw attitude increase by about 10 s, the stabilization errors of position and yaw angle decrease by about 0.3 mand 10° respectively, the overshoots of linear velocity and yaw angle velocity reduce by about 0.6m·s-1 and 2 rad·s-1 separately, so the proposed backstepping control method has higher reliability, stability and accuracy.

     

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