Backstepping adaptive sliding mode control for unmanned surface vessel course tracking with water-jet-propelled
喷水推进型无人艇航向跟踪的反步自适应滑模控制*

This paper presented a method of Backstepping adaptive sliding mode control for the course tracking nonlinear system of the unmanned hydroplane with single water-jet-propelled. The autopilot system consisted of the nonlinear ship response model and the rudder actuator dynamics. The motion response model took account of the modeling errors and external disturbances. It transformed the original system into a nonlinear system based on global diffeomorphism change of coordinate. And propsed an adaptive sliding mode control law based on sliding mode control theory and Backstepping method. By means of Lyapunov function, it proved that the proposed control law could render the course tracking system globally asymptotically stable. Simulations results illustrate the effectiveness of the proposed method.