Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach

Abstract

We propose a robust nonlinear trajectory tracking design by integrating a nonlinear model transformation, robust disturbance eliminator, and trajectory generator for unmanned surface vessels influenced by modeling uncertainties and ocean environmental disturbances. We designed this nonlinear control law to help control unmanned surface vessels following any designated sail trajectory constructed by the trajectory generator. With cubic spline interpolation, this trajectory generator can generate arbitrary smooth trajectories. Simulation results show that the proposed nonlinear robust control law has precise trajectory tracking performance and a robustness property for unmanned surface vessels under harsh ocean environmental disturbances and modeling uncertainties.