Adaptive Path-following Control of Underactuated Surface Vessels Subject to Unknown Disturbances With Uniform Bounded Lateral Motion

• Published in: International journal of control, automation, and systems Vol. 23; no. 6; pp. 1641 - 1651
• Main Authors: Cao, Duc Sang, Tran, Quoc Van
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.06.2025; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Control; Control theory; Controllers; Disturbances; Engineering; Mechatronics; Path tracking; Robotics; Robust control; Sliding mode control; Stability; Vessels; 제어계측공학; robust adaptive control; underactuated vehicles; path-following; stability analysis; Internal dynamics

This article presents a unified framework for path-following and trajectory tracking of underactuated surface vessels (USVs) in the presence of unknown disturbances. To handle the underactuation of the vessel, the path-following of a hand point in the longitudinal axis ahead of the vessel’s mass cen...