Trajectory tracking control of underactuated USV based on modified backstepping approach

In this paper, a finite-time trajectory tracking control for unmanned surface vessel with error constraints and input saturations is proposed. We take the limited actuator capability into account and employ the hyperbolic tangent function to address the saturation problem, which is converted into the unknown input gains. A tan-type barrier Lyapunov function tackles the error constraints, where error variables remain within the predefined bounds. In addition, the neural networks are utilized for model uncertainties and external disturbances. We present a semi-globally uniformly bounded control method, and develop a finite-time control approach subsequently. Finally, the effectiveness of the proposed strategies is verified by the simulation studies.

Finite-time trajectory tracking control of unmanned surface vessel with error constraints and input saturations

Layered berthing method and experiment of unmanned surface vehicle based on multiple constraints analysis

The trajectory tracking control problem for underactuated unmanned surface vehicles (USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.

Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

A hybrid coordination controller for speed and heading control of underactuated unmanned surface vehicles system

The trajectory planning and tracking control for an underactuated unmanned surface vessel (USV) were addressed. The reference trajectory was generated by a virtual USV, and the error equation of trajectory tracking for underactuated USV was obtained, which transformed the tracking and stabilization problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov’s direct method. By means of Lyapunov analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Numerical simulation results are presented to validate the effectiveness and robustness of the proposed controller.

Jian Cao

Papers

Trajectory planning and tracking control for underactuated unmanned surface vessels