Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference
Department of Mechatronic Engineering Shanghai University, Shanghai, China
1 Fund program: Science and Technology Commission of Shanghai Municipality, China (Grant No. 14DZ1110900)
2 Fund program: Project of Shanghai outstanding academic leader, China (Grant No. 15XD1501800)
3 Fund program: Supported by Natural Science Foundation of Shanghai Municipality, China (Grant No. 13ZR1454300)
This paper presents an improved trajectory tracking controller based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV). A Three Degree of Freedom (DOF) underactuated maneuvering motion model for water-jet-propelled USV is established, and controller can track both straight line trajectory and curve trajectory with relatively high accuracy. The stability of USV system is proved by BIBO (bounded-input-bounded-output stable) characteristics, then simulation experiments are carried out to demonstrate the robustness and precise control performance of the controller.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.