Abstract
This paper presents an improved trajectory tracking controller based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV). A Three Degree of Freedom (DOF) underactuated maneuvering motion model for water-jet-propelled USV is established, and controller can track both straight line trajectory and curve trajectory with relatively high accuracy. The stability of USV system is proved by BIBO (bounded-input-bounded-output stable) characteristics, then simulation experiments are carried out to demonstrate the robustness and precise control performance of the controller.
Highlights
These Unmanned Surface Vessel (USV), known as the water robot, which is an unmanned surface vehicle with autonomous planning and navigation capability
In this paper,the control problem of trajectory tracking for USV can be formulated as follows: Considering the situation that model parameter perturbation and external disturbance factors which exist in underactuated Unmanned Surface Vessel (USV), robust control is the key problem of the USV, and the control objective for trajectory tracking of USV is to ensure the tracking errors converge to an arbitrarily small neighborhood of zero as t → ∞
An improved trajectory tracking controller is proposed in this paper for trajectory tracking control of underactuated USV, based on backstepping control algorithm, combined with sliding mode control method
Summary
These Unmanned Surface Vessel (USV), known as the water robot, which is an unmanned surface vehicle with autonomous planning and navigation capability. Pettersen et al [2] designed a trajectory tracker which can make underactuated ship's heading tracking error and position tracking error achieve exponential stability on the assumption that the expected heading angle acceleration is greater than zero conditions. K. Do et al [3] designed a trajectory tracking controller for under-actuated ship base on the Lyapunov direct method, the backstepping method and the cascade system theory, the controller can finish straight and curved global asymptotic tracking control. In order to solve the adverse effects of ship model uncertainty and external disturbance ,Do et al [6] proposed a robust adaptive controller base on Lyapunov direct method and Backstepping after carrying out non-linear coordinate transformation,and estimated the uncertainty of model parameters by using the Lipschitz parameter projection technique.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
