Stabilization and Tracking Control of Underactuated Unmanned Surface Vessel with High-Order Fully Actuated System Approach in GPS-Denied Environments

This paper investigates a unified framework for pose stabilization and trajectory tracking of underactuated unmanned surface vessels (USVs) in GPS-denied environments based on High-Order Fully Actuated System (HOFAS) approach. By incorporating USV dynamics and the relative pose equations of planar rigid bodies in the SE(2) framework, the configurations in the global coordinate system are transformed into a relative configuration model in a local frame. Then, a high-order fully actuated model of the relative configuration is derived, which facilitates the design of a unified control law capable of achieving both stabilization and tracking objectives. Finally, numerical simulations are conducted to validate the effectiveness of the designed controller.