Trajectory tracking of underactuated unmanned surface vehicle with uncertain external disturbances and model parameters
by Jianjian Liu; Meijiao Zhao; Yan Peng; Dan Zhang; Shaorong Xie
International Journal of Vehicle Design (IJVD), Vol. 84, No. 1/2/3/4, 2020

Abstract: This paper investigates trajectory tracking control problem for an underactuated unmanned surface vehicle under external disturbance and model parameters uncertainty. Within the framework of backstepping control, a trajectory tracking control method based on constant bearing guidance is proposed, which can avoid the singularity that often appears in circular motion of the vehicles by redefining the differential of virtual heading angle. Moreover, disturbance observers are designed to estimate the equivalent disturbance, so that the vehicle can track the desired trajectory stably in the unknown ocean environment. Finally, due to the limitation of the propellers' mechanical performance, dynamic saturation of surge force and yaw moment is designed according to the upper and lower limits of two propellers' thrust to ensure the stable operation of the control system. Based on Lyapunov stability theory, the stability of the system is proved. And the numerical simulation results show the effectiveness of the presented control method.

Online publication date: Fri, 25-Jun-2021

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Design (IJVD):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com