Adaptive Fuzzy Control of USV Based on Improved Finite-Time Command-Filtered Backstepping Method

This article introduces a path tracking control method for unmanned surface vehicle (USV), which uses finite-time adaptive fuzzy technology combined with command filter. Divide the path tracking control problem into the design of line of sight (LOS) guidance law and controller. Firstly, in response to disturbances in the marine environment, a side slip angle update rate and expected guidance angle are designed. Secondly, an adaptive fuzzy control strategy is proposed to approximate and compensate for model uncertainty and changes in state variables, in order to improve system robustness. Simultaneously utilizing an improved finite-time command filter and backstepping method to control the required guidance angle for yaw angle tracking. Finally, design an improved compensation mechanism to make the tracking control of the system more precise. The effectiveness of this method is verified through MATLAB simulation results.