Robust adaptive asymptotic trajectory tracking control for underactuated surface vessels subject to unknown dynamics and input saturation

• Published in: Journal of marine science and technology Vol. 27; no. 1; pp. 307 - 319
• Main Authors: Qin, Junfeng, Du, Jialu
• Format: Journal Article
• Language: English
• Published: Tokyo Springer Japan 01.03.2022; Springer; Springer Nature B.V
• Subjects: Adaptive control; Analysis; Approximation; Asymptotic properties; Automotive Engineering; Control; Control theory; Coordinate transformations; Design; Disturbances; Dynamics; Engineering; Engineering Design; Engineering Fluid Dynamics; Error functions; Feedback; Feedback control; Management science; Mechanical Engineering; Neural networks; Offshore Engineering; Original Article; Robust control; Saturation; Surface craft; Theoretical analysis; Tracking control; Trajectory control; Vessels; Robust integral of the sign of the error; Asymptotic tracking control; Input saturation; Neural networks; Underactuated surface vessels

In this paper, a robust adaptive control scheme is proposed for the trajectory tracking control of underactuated surface vessels (USVs) subject to unknown dynamics, external disturbances and input saturation. First, a coordinate transformation is introduced to deal with the underactuation problem of...