Abstract
ABSTRACT This paper investigates the adaptive tracking control problem for unmanned surface vehicles (USVs) systems with internal/external uncertainties, unknown sensor measurement sensitivity and actuator saturation. First, the actuator saturation nonlinearity is approximated employing an improved Gaussian error function. The composite uncertain term synthesising unknown sensor measurement sensitivity, parameter uncertainties, and unknown time-varying disturbances, is reformulated into a linear parameterisation-like structure. Then, to reduce the computation burden, a novel adaptive tracking control scheme has been developed utilising the backstepping design paradigm, where only one unknown parameter needs to be updated online. The theoretical framework demonstrates that all signals of USVs are bounded. The efficacy of the proposed scheme is validated through comprehensive simulation analysis.
Published Version
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