A robust adaptive control for trajectory tracking of underactuated surface ships

We proposed a robust adaptive control method for trajectory tracking of underactuated surface ship with parameters uncertainties and disturbances. Based on the diffeomorphism transformation, the new tracking variables are given. In kinematics loop, we design the reference yaw angle and the reference speed. The nonlinear adaptive controller is designed in dynamics loop to asymptotically approach to the desired variables. The stability of the closed-loop system is analyzed by using Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control method.