Adaptive Kinematic Control for the Trajectory Tracking of Unmanned Surface Vehicle with Unknown Ocean Currents
- Resource Type
- Conference
- Authors
- Souissi, Sami; Boukattaya, Mohamed
- Source
- 2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2022 IEEE 21st international Ccnference on. :51-55 Dec, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Backstepping
Trajectory tracking
Oceans
Simulation
Estimation
Kinematics
Stability analysis
Unmanned surface vehicle (USV)
backstepping approach
ocean current estimator
adaption laws
- Language
- ISSN
- 2573-539X
The problem of trajectory-tracking for Unmanned Surface Vehicle (USV) is presented using a robust adaptive approach. First, a virtual velocity command is developed using backstepping control to ensure the traj ectory tracking of the USV's location and orientation. Then, an adaptive update law is designed for the estimation and compensation of ocean currents disturbances acting on the USV system. The stability analysis and the computation of the adaptive laws are proved using Lyapunov stability. Simulation results show the validity of the proposed method for the trajectory tracking problem.