This paper introduces a target tracking control approach for an underactuated Unmanned Surface Vehicle (USV) with 6 Degrees of Freedom (6-DoF), characterized by unknown dynamics and disturbances. Notably, the system inertia matrix of this 6-DoF USV is positive definite and non-diagonal, implying the presence of intricate coupling relationships within the input vector components. To address the challenges posed by underactuation, we present an adaptive control methodology utilizing a novel transverse function and backstepping procedure. Furthermore, we introduce a dynamic signal to compensate for external dynamic uncertainties and disturbances. Leveraging Lyapunov stability theory, we establish that the target tracking error converges to a small neighborhood near the origin, and all signals within the closed-loop system remain bounded. Lastly, we showcase the effectiveness of the proposed control methodology through simulation results involving a 6-DoF supply vehicle.


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    Titel :

    Adaptive Backstepping Control for Underactuated 6-DoF USV With Uncertain Dynamics


    Beteiligte:
    Yu, Kunting (Autor:in) / Li, Yongming (Autor:in) / Lv, Maolong (Autor:in) / Tong, Shaocheng (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.11.2024


    Format / Umfang :

    1983757 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch