Observer-based adaptive tracking control of underactuated autonomous marine vehicle with uncertainty dynamic

Abstract

This study presents the problem of tracking control for underactuated autonomous marine vehicle in condition to uncertainty dynamic and unavailable velocity. A robust controller for tracking control is designed by employing backstepping method, multi-layer neural network, and adaptive control technique. Moreover, the all error variables are guaranteed time-varying bounded based on Lyapunov synthesis. The biological dynamic model are employed to acquire the derivatives of virtual variables such that reduce explosion of complexity of traditional backstepping method. The designed control system does not acknowledge any priori parameters, which include hydrodynamic damping and model parameters. The nonlinear observer is designed to overcome the difficulty of unavailable velocity. Finally, the results of calculation and simulation indicate that proposed controller has better tracking performance for underactuated autonomous marine vehicle.