Bio-inspired Trajectory Tracking Algorithm based on SFLOS for USV

In this paper, a novel guidance-control scheme is presented for the unmanned surface vessel (USV) trajectory tracking. First, the guidance system is designed to give the reference speed and heading for the control system. Based on the SFLOS algorithm, the guidance system can track the desired curve in high precision. Then, control system is proposed based on backstepping technique and bio-inspired neural dynamics model. Utilizing the characteristics of the neural dynamics model, the more smooth control law is developed. Finally, the closed-loop system can be proved to be globally asymptotically stable based on cascaded system stability theory. Simulations demonstrate the effectiveness of the proposed method.