中文摘要：

欠驱动水面船舶的镇定控制大多采用切换控制的方法,对该问题的研究普遍存在需要角速度持续激励的问题,时变控制可以有效解决该问题,但时变系统存在构造李雅普洛夫函数的困难,为此提出了一种时变状态变换,并基于反步法构造了该系统的李雅普洛夫函数,从而设计了一种全局时变反馈镇定控制器,取消了对初始条件角速度不能为零的约束。仿真结果验证了所提出方法的有效性。

英文摘要：

The stabilization of an underactuated surface vessel is solved by switching control,which however involves the problem of persistent angular excitation.Time-varying control can solve the problem.But the Lyapunov function of time-varying system is rather difficult to construct.In this case,a new time-varying state transformation is proposed,and a time-varying Lyapunov function can be easily constructed based on backstepping approach.Then a global time-varying feedback stabilization controller is designed,which cancels the limitation of no zero for the angular in the initial condition.The simulation result verifies the validity of the proposed method.