Trajectory Tracking of Underactuated USV Based on Adaptive Command Filtered Backstepping Control

In order to solve trajectory tracking of underactuated USV in the horizontal plane, a robust trajectory tracking controller has been designed based on command filtered backstepping and adaptive control techniques. The derivative of virtual control is obtained by a command filter, which avoids the computational complexities of the traditional backstepping approach. Moreover, a filtered error compensation loop is designed to guarantee the approximation precision between the virtual control and the filtered signals. Then, Sliding mode control is used to compensate the external disturbance. Adaptive approach is employed to compensate the unknown hydrodynamic parameters. Finally, the stability of the closed loop is proved by Lyapunov stability theory, and the effectiveness of the controller is verified by simulation.