Adaptive Backstepping Control for Underactuated 6-DoF USV With Uncertain Dynamics

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Abstract
This paper introduces a target tracking control approach for an underactuated Unmanned Surface Vehicle (USV) with 6 Degrees of Freedom (6-DoF), characterized by unknown dynamics and disturbances. Notably, the system inertia matrix of this 6-DoF USV is positive definite and non-diagonal, implying the presence of intricate coupling relationships within the input vector components. To address the challenges posed by underactuation, we present an adaptive control methodology utilizing a novel transverse function and backstepping procedure. Furthermore, we introduce a dynamic signal to compensate for external dynamic uncertainties and disturbances. Leveraging Lyapunov stability theory, we establish that the target tracking error converges to a small neighborhood near the origin, and all signals within the closed-loop system remain bounded. Lastly, we showcase the effectiveness of the proposed control methodology through simulation results involving a 6-DoF supply vehicle.
Funding Information
  • National Natural Science Foundation of China (U22A2043, 62303489, GKJJ24050502, 62173172)
  • Natural Science Basic Research Program of Shaanxi (2024JC-YBQN-0668)
  • Project for Science and Technology (2022-JCJQ-QT-018)
  • Young Talent Fund of Association for Science and Technology in Shaanxi (20220101)
  • Postdoctoral International Exchange Project (YJ20220347)
  • Postdoctoral Science Foundation General Program (2022M723877)
  • Postdoctoral Science Foundation Special Funding (2023T160790)

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