Tracking Control Design of a Class of Uncertain Surface Vessel Systems

This paper is devoted to the tracking control of a class of uncertain surface ship systems. From the engineering practice, practical tracking and asymptotic tracking problems are considered, respectively. Specifically, for the case that only disturbance is allowed, a practical tracking controller is designed by vector backstepping control design method combining with adaptive dynamic compensation mechanism, which guarantees that all the states of resulting-loop system are bounded while the system output arrive at and remain in a given interval of reference signal. Then, for the case that both disturbance and internal uncertainties of system are allowed, an asymptotic controller is designed by time-varying compensation mechanism, which guarantees that all the states of resulting-loop system are bounded while the system output asymptotically tracks a given reference signal. Finally, a simulation example is provided to validate the effectiveness of the proposed theoretical results.