Dual-Layer Adaptive Neural Control for USV-UAV Cross-Domain Trajectory Tracking: A Case of Port Maneuvering with Dynamic Speed Planning

This paper introduces a novel control strategy under the slow down navigation circumstance for the underactuated surface vehicle (USV)-unmanned aerial vehicle (UAV) cooperative system. Within the guidance planning structure, a time-variable slow down function is presented to become the desired velocity signal of the virtual vehicles. In order to accomplish the aim of the path following, the neural adaptive controller different from position and attitude is designed. For the sake of the control system stability, combining the backstepping and the sliding mode theory, multiple parameter update laws are designed to tackle the model uncertainty and the external interferences. The stability of the closed-loop control system is proved by Lyapunov theory. Finally, the simulation experiment is conducted to testify the effectiveness of the proposed algorithm.