Optimal Trajectory Tracking of Unmanned Surface Vessels with Input Constraints via Adaptive Dynamic Programming

This paper proposes a control scheme integrating adaptive dynamic programming and dynamic surface control for optimal trajectory tracking of unmanned surface vessels, considering input constraints and external disturbances. First, the control framework is designed with dynamic surface control as the feedforward component and dual heuristic dynamic programming as the feedback component, ensuring accurate reference trajectory tracking while enhancing control precision. Second, a novel non-quadratic performance functional is used to effectively address control constraints. The effectiveness of the outlined approach is validated by the simulation results.