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Global exponential stabilization of underactuated surface vessel with high‐order fully actuated control approach.

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Title: Global exponential stabilization of underactuated surface vessel with high‐order fully actuated control approach.
Authors: Pan, Qi1 (AUTHOR), Peng, Xiuhui1 (AUTHOR) xhpeng@nuaa.edu.cn, Lv, Yuezu2 (AUTHOR), Tian, Yongxiao3 (AUTHOR)
Source: Asian Journal of Control. Jul2026, Vol. 28 Issue 4, p1924-1933. 10p.
Subject Terms: *Exponential stability, *Homeomorphisms
Abstract: This paper addresses the stabilization problem of underactuated surface vessels. First, a global homeomorphic transformation is introduced, followed by the design of a high‐order fully actuated stabilization control law based on the transformed fully actuated model. Next, an improved approach to solving the attraction region is proposed, tailored to the constraints of the control law. Global exponential stabilization is then achieved through a switching control law that does not explicitly depend on time. Finally, simulation results validate the effectiveness of the proposed control law in enhancing system performance. [ABSTRACT FROM AUTHOR]
Database: Energy & Power Source
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Header DbId: enr
DbLabel: Energy & Power Source
An: 195289400
AccessLevel: 6
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PubTypeId: academicJournal
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  Label: Title
  Group: Ti
  Data: Global exponential stabilization of underactuated surface vessel with high‐order fully actuated control approach.
– Name: Author
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  Data: <searchLink fieldCode="AR" term="%22Pan%2C+Qi%22">Pan, Qi</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Peng%2C+Xiuhui%22">Peng, Xiuhui</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> xhpeng@nuaa.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Lv%2C+Yuezu%22">Lv, Yuezu</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Tian%2C+Yongxiao%22">Tian, Yongxiao</searchLink><relatesTo>3</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Jul2026, Vol. 28 Issue 4, p1924-1933. 10p.
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  Label: Subject Terms
  Group: Su
  Data: *<searchLink fieldCode="DE" term="%22Exponential+stability%22">Exponential stability</searchLink><br />*<searchLink fieldCode="DE" term="%22Homeomorphisms%22">Homeomorphisms</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This paper addresses the stabilization problem of underactuated surface vessels. First, a global homeomorphic transformation is introduced, followed by the design of a high‐order fully actuated stabilization control law based on the transformed fully actuated model. Next, an improved approach to solving the attraction region is proposed, tailored to the constraints of the control law. Global exponential stabilization is then achieved through a switching control law that does not explicitly depend on time. Finally, simulation results validate the effectiveness of the proposed control law in enhancing system performance. [ABSTRACT FROM AUTHOR]
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=enr&AN=195289400
RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1002/asjc.3782
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 10
        StartPage: 1924
    Subjects:
      – SubjectFull: Exponential stability
        Type: general
      – SubjectFull: Homeomorphisms
        Type: general
    Titles:
      – TitleFull: Global exponential stabilization of underactuated surface vessel with high‐order fully actuated control approach.
        Type: main
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      – PersonEntity:
          Name:
            NameFull: Pan, Qi
      – PersonEntity:
          Name:
            NameFull: Peng, Xiuhui
      – PersonEntity:
          Name:
            NameFull: Lv, Yuezu
      – PersonEntity:
          Name:
            NameFull: Tian, Yongxiao
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      – BibEntity:
          Dates:
            – D: 01
              M: 07
              Text: Jul2026
              Type: published
              Y: 2026
          Identifiers:
            – Type: issn-print
              Value: 15618625
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            – Type: volume
              Value: 28
            – Type: issue
              Value: 4
          Titles:
            – TitleFull: Asian Journal of Control
              Type: main
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