Adaptive Non-Strict Trajectory Tracking Control Scheme for a Fully Actuated Unmanned Surface Vehicle

Abstract

This study presents a new adaptive trajectory tracking control scheme for a fully actuated Unmanned Surface Vehicle (USV) to track a common moving target region. In this control concept, the desired objective trajectory is specified as a moving region instead of a moving point, and so which is called non-strict trajectory tracking. Within this control scheme, a regression matrix is used to handle the parameter uncertainties, and region-based control scheme is used to track a desired moving region. A switching gain control term based on the exponential function is proposed to make the USV’s trajectory converge into the desired moving region rather than converge on the boundary of the moving region, and to reduce system chattering at the same time. A Lyapunov-like function is presented for stability analysis of the proposed control scheme. Numerical simulations are conducted to demonstrate the performance of the proposed non-strict trajectory tracking control scheme of the USV.