Abstract
This paper describes development and testing of two trajectory tracking control algorithms for an unmanned surface vehicle (USV): a cascade of proportionalderivative controllers and a nonlinear controller obtained through backstepping. The control laws are designed to force the vehicle trajectory to converge to a reference trajectory generated using an experimentally identified dynamic model of the USV. Experimental results indicate that the backstepping controller is much more effective at tracking trajectories that involve large variations in speed and course angle. The backstepping control law is extended to accommodate a constant ambient flow. Simulations of the reformulated backstepping controller in a flow field further illustrate its effectiveness.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
