Trajectory tracking control of unmanned surface vehicles under stochastic environmental loads
CONG Ruyue
LIU Ying
LI Wuquan
Abstract：The trajectory tracking control problem of unmanned surface vehicles(USVs)with unknown stochastic environmental disturbances was studied.Firstly,based on the theory of stochastic differential e-quations,a system dynamic model incorporating stochastic disturbance terms is established to accurately characterize the influence of environmental disturbances on the USVs motion trajectory.Secondly,a ro-bust trajectory tracking controller is designed based on the backstepping control method.The designed controller can ensure that the actual trajectory of the USVs asymptotically tracks any given reference traj-ectory with the desired precision.Then,it is rigorously proven that all signals in the closed-loop system satisfy global uniform ultimate boundedness.Finally,numerical simulations are conducted to verify the ef-fectiveness and robustness of the trajectory tracking controller.
Keywords：stochastic controltrajectory tracking controlbacksteppingunmanned surface vehicles
Publication Date：2026-06-25
Online Publishing Date：2026-08-28(First online date of this platform, not the publication date of the document)
Pages：8( 328-335 )