Robust Adaptive Path Following for Underactuated Surface Vessels with Uncertain Dynamics

柔韧的适应控制策略被开发强迫一个 underactuated 表面容器跟随一条引用路径，尽管有包括外长的骚乱和测量噪音的不明确的参数和未组织的无常的存在。参考路径能是一条曲线或一根直线。建议控制器被使用 Lyapunovs 直接方法和滑动模式控制和 backstepping 技术设计。因为容器的摇摆轴直接没被激活，二滑动表面被介绍，第一以追踪的巨浪运动，为 yaw 的错误和第二个错误打手势追踪错误。适应控制法律保证制服得到了追踪的错误的最终的固定。数字模拟结果被提供为路径列在后面 underactuated 表面容器验证建议控制器的有效性。

A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path,despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise.The reference path can be a curve or a straight line.The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques.Because the sway axis of the vessel was not directly actuated,two sliding surfaces were introduced,the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors.The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors.Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels.