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Adaptive trajectory tracking control of vector propulsion unmanned surface vehicle with disturbances and input saturation

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Abstract

This paper presents an adaptive trajectory tracking controller with full state feedback for vector propulsion unmanned surface vehicle (USV). The controller solves the problem of strong coupling of control inputs with vector propulsion by virtual control point method. Then, a guidance trajectory is designed to avoid input saturation as much as possible. In order to be closer to the reality of USV system, the tracking controller is also designed for its actuator. When designing the trajectory tracking controller, neural network-minimum learning parameter (NN-MLP) technology and parameter adaptive correction method are used to approximate and compensate the actuator error, model uncertainty and unknown environmental disturbances. By introducing a continuously differentiable approximate saturation function, the oscillation problem caused by the discontinuous signum function in the standard sliding mode control method is avoided. Next, the Lyapunov stability analysis of designed control law shows that the controller is ultimately uniformly bounded stability. Then, the zero-dynamics stability condition of virtual control point is also proved. Finally, compared with standard method, numerical simulation results verify the effectiveness of proposed method.

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Acknowledgements

This paper is partly supported by the Nature Science Foundation of China (Grand Number 51609033), the Nature Science Foundation of Liaoning Province of China (Grand Number 20180520005), the Key Development Guidance Program of Liaoning Province of China (Grand Number 2019JH8/10100100), the Soft Science Research Program of Dalian City of China (Grand Number 2019J11CY014) and the Fundamental Research Funds for the Central Universities (Grand Number 3132019005, 3132019311).

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  1. College of Marine Electrical Engineering, Dalian Maritime University, and Liaoning Province Key Laboratory of Technology and System for Intelligent Ships, Dalian, 116026, China

    Xiaojie Sun, Guofeng Wang & Yunsheng Fan

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  1. Xiaojie Sun
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Correspondence to Xiaojie Sun.

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Sun, X., Wang, G. & Fan, Y. Adaptive trajectory tracking control of vector propulsion unmanned surface vehicle with disturbances and input saturation. Nonlinear Dyn 106, 2277–2291 (2021). https://doi.org/10.1007/s11071-021-06873-7

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