Adaptive Output Feedback Tracking Controller for Underactuated Surface vessel with Unmeasurable Orientation

The work addresses the trajectory tracking control problem of surface vessel without yaw angle measurement. A new adaptive output feedback controller is proposed ensuring that position error converges to zero asymptotically. The new proposed control law can guarantee the independence of position tracking error on convergence of yaw angle estimation error with bounded sway velocity and system inputes. The design of proposed controller is based on unknown yaw angle, while previous controller design was based on unknown speed. Simulations are presented to verify the effectiveness of the proposed controller.