Robust Path Following Control of Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation

This paper focuses on the accurate path following problem for an underactuated unmanned surface vehicle with uncertainties and environment disturbances. The proposed scheme can be divided into guidance loop control loop: in loop, law is utilized to calculate desired yaw angle, as well estimating unknown currents sideslip angle simultaneously; a novel robust developed by enhanced trajectory linearization (TLC) technology, nonlinear tracking differentiator (NTD), sigmoid function based disturbance observer (SDO) auxiliary dynamic system. TLC used main framework design concise rate surge speed laws, which makes designed simple easy implement practice. SDO system are adopted deal disturbances input saturation, respectively. Meanwhile, NTD provide ideal differential filtering effect. Theoretical analysis indicates that all signals entire uniformly ultimately bounded. Finally, comparative simulation substantiates availability superiority of scheme.