Abstract
This paper proposes an adaptive output feedback control for trajectory tracking of underactuated surface vessels (USVs). For the realistic dynamical model of USVs, we consider the USV model, where the mass and damping matrices are not diagonal. Moreover, except the mass matrix, the system parameters and nonlinearities of the USV are all assumed to be unknown. Despite this uncertain circumstance, we develop an adaptive observer based on the neural networks to estimate the velocity data of USVs. Then, an output feedback control law is designed by simultaneously considering the input saturation and underactuated problems.
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