Path Following Control of the Asymmetric USV via Backsteppin Sliding Mode Technique

Aiming at underactuation and asymmetry of unmanned surface vessel (USV), the global asymptotically stable path following controller is proposed by the nonlinear backstepping sliding mode method and the Lyapunov stability theory. First, the path following error model in Serret-Frenet (SF) coordinate system is established with the improved line-of-sight (LOS) guidance algorithm, then by combining backstepping design principles and the sliding mode control method, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Numerical simulations are provided to validate the effectiveness and reliability of the proposed controller in the final.