Adaptive dynamic surface tracking control of underactuated surface vessels with unknown disturbances

Abstract

This paper aims at accomplish the trajectory tracking control of an underactuated surface vessel (USV) with unknown disturbances. An adaptive dynamic surface control (ADSC) scheme for the USV is proposed in this paper. And an adaptive method is employed to approximate unknown disturbances. The tracking error dynamic system is divided into two cascaded subsystems, then we can separately design the control laws for two independent inputs of an USV by using the ADSC method. Dynamic surface control is including or using the backstepping technique, and avoid derivation of virtual control signals and the curse of dimension, thereby resulting in global asymptotic stability. Simulation studies demonstrate that proposed ADSC scheme is effective.