Backstepping control method for the path following for the underactuated surface vehicles

A method of Backstepping path following control was presented for the path following control problem of the underactuated surface vehicle (USV) under Serret-Frenet frame. The system consists of the rudder actuator dynamics. It transformed the original underactuated system into an actuated nonlinear...

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Bibliographic Details
Main Authors: Xu Dong, Liao Yu-lei, Pang Yong-jie, Sun Nan
Format: Conference Proceeding
Language:chi ; eng
Subjects:
Backstepping
Backstepping Method
Computer science
Educational institutions
Electronic mail
Marine vehicles
Path Following
Serret-Frenet Frame
Sun
Surface Vehicle
Underactuated
Vehicles
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Summary:A method of Backstepping path following control was presented for the path following control problem of the underactuated surface vehicle (USV) under Serret-Frenet frame. The system consists of the rudder actuator dynamics. It transformed the original underactuated system into an actuated nonlinear system based on simplified analysis. A Backstepping path following controller was proposed based on Backstepping method. By means of Lyapunov stability theory, it was proven that the proposed controller can guarantee the path following control system globally asymptotically stable. Simulation results were provided to validate the effectiveness of the proposed controller and to demonstrate its robustness with respect to system uncertainties.
ISSN:2161-2927