Stabilization control and simulation of an unmanned surface vessel

This paper addresses the asymptotic stabilization problem of an unmanned surface vessel. The unmanned vessel under consideration is propelled by a water-jet and not actuated in the sway direction. A backstepping control law is proposed to make the origin of the unmanned vessel asymptotically stable. The construction of the controller is facilitated by the introduction of several nonlinear coordinate changes. A virtual simulation system is designed by using Vega Prime. The effectiveness of the proposed control law is verified by simulation.