Trajectory Tracking Control Of Surface Vessel With Random Disturbances

The trajectory tracking problem for a surface vessel with random disturbances and unknown parameters is considered in this paper.The dynamic model with three degrees of freedom in form of quasi-Lagrange equation is obtained by regarding waves,winds,and currents as second moment processes.In the case of environmental disturbances,we designed the adaptive vector backstepping controller through the obtained system.We choose the energy function as a candidate Lyapunov function,and then we can get the controller which makes all the signals of the surface vessel are bounded and make the mean square of tracking error arbitrarily small.Finally,simulation is given to testify the effectiveness and practicability of the proposed method.