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• W4310874952 abstract "Dear Editor, This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify the design of controller, the original ship model is transformed into a nonlinear cascade system with a minimum phase. Then, the stabilization of the cascade system is further processed into an equivalent stabilization of a reduced-order nonholonomic-like system. A discontinuous stabilization control method is proposed through a combination of state-scaling and state-dependent function transformations, nonlin-ear filters, and switching technologies. Stability analysis demon-strates that under the newly designed stabilization controller, the closed-loop system states are bounded and the desired state constraints are not violated." @default.
• W4310874952 created "2022-12-19" @default.
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• W4310874952 date "2022-12-01" @default.
• W4310874952 modified "2023-09-29" @default.
• W4310874952 title "Stabilization of Asymmetric Underactuated Ships With Full-State Constraints: From Underactuated to Nonholonomic Configuration" @default.
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• W4310874952 doi "https://doi.org/10.1109/jas.2022.105848" @default.
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