Adaptive Auto-Berthing Control of Underactuated Vessel Based on Barrier Lyapunov Function

This paper investigates the automatic berthing problem of underactuated surface vessels in case uncertain dynamics and yaw rate limitation, given importance control unmeasurable hydrodynamic parameters vessel at low speeds. First, we use differential homeomorphism coordinate transformation to solve underactuation. Second, a radial basis function network (RBF) is introduced approximate unknown nonlinear functions. Third, apply barrier Lyapunov (BLF) approach limit within safe range. Fourth, dynamic (DSC) technology minimum learning (MLP) tackle explosion problems backstepping computational complexity. Finally, stability theory proves that signals produced by designed scheme are bounded effective. The simulation results show that, compared with without BLF, proposed method can effectively specific range solves influence model uncertainly.