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

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.