Single-parameter-learning-based Course Tracking Control of Marine Surface Vehicles
LI Yang
MU Peng
Abstract：A single-parameter-learning-based control scheme is proposed for the ship control problem of surface vessels un-der unknown parameters,unknown time-varying disturbances,and input saturation conditions,and input saturation.First,the in-put saturation is approximated using a Gaussian error function.The compounded uncertain term caused by the unknown parameters and disturbances is transformed into a linear parametric form with a single parameter called virtual parameter.Then,a novel robust adaptive ship course tracking control law is designed using the backstepping design method,where the adaptive law online provides the estimation of the virtual parameter.This control scheme is easy to calculate and also easy to implement in engineering applica-tions.Theoretical analysis shows that the designed control law can enable surface vessels to track the required heading and also en-sure that all signals in their navigation control system are globally uniformly bounded.Finally,the effectiveness of the proposed adaptive heading tracking control scheme is verified through simulation.
Keywords：input saturationshipcourse tracking controluncertaintiesvirtual parameter
Publication Date：2025-09-20
Online Publishing Date：2025-12-23(First online date of this platform, not the publication date of the document)
Pages：5( 74-78 )