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Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

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Abstract

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.

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Authors and Affiliations

  1. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China

    Yu-lei Liao  (廖煜雷), Ming-jun Zhang  (张铭钧), Lei Wan  (万磊) & Ye Li  (李晔)

  2. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    Ming-jun Zhang  (张铭钧)

Authors
  1. Yu-lei Liao  (廖煜雷)
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  2. Ming-jun Zhang  (张铭钧)
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  3. Lei Wan  (万磊)
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  4. Ye Li  (李晔)
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Corresponding author

Correspondence to Yu-lei Liao  (廖煜雷).

Additional information

Foundation item: Project(51409061) supported by the National Natural Science Foundation of China; Project(2013M540271) supported by China Postdoctoral Science Foundation; Project(LBH-Z13055) Supported by Heilongjiang Postdoctoral Financial Assistance, China; Project(HEUCFD1403) supported by Basic Research Foundation of Central Universities, China

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Liao, Yl., Zhang, Mj., Wan, L. et al. Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties. J. Cent. South Univ. 23, 370–378 (2016). https://doi.org/10.1007/s11771-016-3082-4

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  • DOI: https://doi.org/10.1007/s11771-016-3082-4

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