Abstract
In order to solve the problem of low speed and stable course tracking of the small unmanned surface vessel (USV), the lateral thruster are added to the driving structure of the USV, and a backstepping control method is designed. By introducing the Lyapunov function, the course tracking error can converge to the region near the desired course and meet the transient and steady performance of the system at the same time. The adaptive control is applied to the lateral thrust control and the closed-loop system remains stable for a finite time. The Lyapunov direct method is used to prove the controller, which greatly simplifies the tedious parameter adjustment problem in traditional control. The simulation results show that the designed controller can make the USV track the specified value stably at low speed and meet the requirements of the USV heading robustness under dynamic conditions.
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