Trajectory Tracking Control of Underactuated Ship Based on Backstepping and Dynamic Surface Control Method

A nonlinear control method is presented for trajectory tracking control of underactuated ships with parametric uncertainties under bounded exogenous disturbances. Because of the model's non-nolonomic constraint, surge and sway control system are designed. By employing backstepping method and dynamic surface control, the controllers of surge and yaw are prestented, which can guarantee the asymptotic stability of the closed-loop control system without uncertainty estimating. Numerical simulation results on a training ship verify the invariability and excellent robustness of the proposed controller, and it can effectively solve the lateral drift of ship.