Trajectory exponential tracking control of unmanned surface ships with external disturbance and system uncertainties.

@article{Qu2018TrajectoryET,
  title={Trajectory exponential tracking control of unmanned surface ships with external disturbance and system uncertainties.},
  author={Yaohong Qu and Bing Xiao and Zhenzhou Fu and Dongli Yuan},
  journal={ISA transactions},
  year={2018},
  volume={78},
  pages={
          47-55
        }
}
Any unmanned surface ship is subject to system uncertainty, unknown parameters, and external disturbance induced by the wind, the wave loads, and the ocean currents. They may deteriorate ship's control accuracy. This paper aims to solve the trajectory tracking control problem of unmanned surface ships with disturbance and system uncertainty accommodated simultaneously. An estimator-based backstepping controller is presented with an estimator designed to provide a precise estimation of the… CONTINUE READING
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