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Heading control based on extended homogeneous polynomial Lyapunov function
  • Yanwei Huang,
  • Feng Lin
Yanwei Huang
Fuzhou University Department of Automation

Corresponding Author:sjtu_huanghao@fzu.edu.cn

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Feng Lin
Fuzhou University Department of Automation
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Abstract

For the nonlinear parameter-varying (NPV) model of unmanned surface vehicle (USV) with the consideration of the velocities on yaw and surge as well as wave disturbances, a robust H ∞ control method is proposed based on extended homogeneous polynomial Lyapunov function (EHPLF) to regulate heading for the superior performance on the rapidity, accuracy and robustness. Firstly, a NPV model of heading error is established to design a general form of a state feedback controller with a robust H ∞ performance. Secondly, a Lyapunov matrix with full states and varying parameter is constructed to derive the robust H ∞ global exponential stability conditions by Euler’s homogeneity relation for the NPV system, known as the EHPLF stability conditions. Thirdly, since the EHPLF stability conditions consist of a set of nonlinear coupled inequalities that cannot be directly solved by sum of squares (SOS) toolboxes, they are decoupled with matrix transformations to obtain the EHPLF-SOS stability conditions, which is solved for the parameters of the state feedback controller. Finally, the simulation results indicate that EHPLF method exhibits a superior performance on dynamic, steady-state and robustness.
07 Aug 2023Submitted to International Journal of Robust and Nonlinear Control
07 Aug 2023Submission Checks Completed
07 Aug 2023Assigned to Editor
07 Aug 2023Review(s) Completed, Editorial Evaluation Pending
09 Aug 2023Reviewer(s) Assigned
12 Sep 2023Editorial Decision: Revise Minor
16 Sep 20231st Revision Received
21 Sep 2023Submission Checks Completed
21 Sep 2023Assigned to Editor
21 Sep 2023Review(s) Completed, Editorial Evaluation Pending
21 Sep 2023Reviewer(s) Assigned
24 Oct 2023Editorial Decision: Accept