Adaptive Backstepping Sliding Mode Tracking Controller Designed for Unmanned Surface Vehicle with Thruster Constraint

In this paper, the trajectory control problem of unmanned surface vehicle with external disturbance and thruster saturation constraint is studied. Firstly, a tracking control system model of unmanned surface vehicle is established considering forward, roll and yaw. Secondly, an adaptive anti-saturation backstepping sliding mode tracking controller is designed for the situations of unknown upper bound of external disturbances by using sliding mode control theory and adaptive algorithm. And the auxiliary system is introduced to handle the thruster saturation. Finally, Lyapunov stability theory is used to prove that the state of the system converges to the domain near zero in finite time, and the effectiveness of the designed control strategy is verified by digital simulation.