Abstract

This paper studies the path following problem of underactuated unmanned surface vehicle (USV) under circumstance of ocean currents. Initially, in order to ensure the USV can converge to and follow the expected path, an improved adaptive integral line-of-sight (IAILOS) guidance law is proposed. IAILOS is suitable for any parametric paths and can deal with ocean currents. Furthermore, the path-following controller is designed by combining the sliding-mode method and backstepping technique. The Lyapunov stability theory verifies that the designed path-following guidance-control system of USV is uniformly ultimately bounded (UUB). Finally, numerical simulation results are carried out to illustrate the effectiveness the proposed controller.KeywordsUnmanned surface vehiclesLine-of-sightPath followingSliding-mode control

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