Design of Strait-line Tracking Controller of Under-actuated USV Based on Back-stepping Method and Feedback Compensation

摘要

Unmanned surface vehicle (USV) system has been one of main research directions in　mobile robotics because it can be used in many situations. However, high performance path　following control, especially straight line tracking control, has been one of the difficult problems in　autonomous control of USV system. In this paper, we propose a new straight line path following　control algorithm by combining yaw angle feedback and back-stepping technique and show its　closed loop stability. The most absorbing advantage of the proposed controller is that it not only　reserve the good performance of back-stepping controller but also bring much faster convergent rate,　which is very important in real applications. The simulation results with respect to a training ship　model have shown the feasibility and validity of the proposed method.