Stabilization of Asymmetric Underactuated Ships With Full-State Constraints: From Underactuated to Nonholonomic Configuration

Dear Editor, This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify design controller, original model is transformed into a nonlinear cascade system minimum phase. Then, further processed equivalent reduced-order nonholonomic-like system. A discontinuous method proposed through combination state-scaling and state-dependent function transformations, nonlin-ear filters, switching technologies. Stability analysis demon-strates that under newly designed closed-loop states are bounded desired state constraints not violated.