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

School of Engineering,Qufu Normal University,Rizhao 276826,China

[1]Zhongcai Zhang;Linran Tian;Heng Su;Yuqiang Wu-.Stabilization of Asymmetric Underactuated Ships With Full-State Constraints:From Underactuated to Nonholonomic Configuration)[J].自动化学报（英文版）,2022(12):2197-2199

Underactuated,Nonholonomic,stabiliza

Stabilization,Asymmetric,Ships,With,Full,State,Constraints,From,Configuration,Dear,Editor, This,letter,addresses,stabilization,asymmetric,underactuated,surface,ship,full,constraints,To,simplify,controller,original,model,transformed,into,nonlinear,cascade,system,minimum,phase,Then,further,processed,equivalent,reduced,order,nonholonomic,like,discontin,uous,method,proposed,through,combination,scaling,dependent,function,transformations,filters,switching,technologies,Stability,analysis,demon,strates,that,newly,designed,closed,loop,states,are,bounded,desired,not,violated

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