Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

This paper considers a trajectory-tracking control algorithm for underactuated marine vehicles moving horizontally in which the current North-East-Down frame is constant. modification of scheme based on input-output feedback linearization method application condition that vehicle symmetric with respect to left and right sides. The proposed can be applied fully asymmetric model, and, therefore, geometric center different from mass both longitudinal lateral directions. A velocity transformation generalized equations motion was used develop suitable controller. Theoretical considerations were supported by simulation tests performed model 3 degrees freedom, performance compared original selected combination backstepping integral sliding mode approaches.