The unmanned surface vehicle course tracking control with input saturation

The great challenge posed by unmanned surface vehicle is to improve the automation level in practical application. In this paper, an unmanned surface vehicle course tracking controller is designed to overcome the input saturation caused by the limitation of the steering engine. The feedback control law is developed based on backstepping design method with the Lyapunov stability theory. An auxiliary design system is employed to handle the effect of input saturation. The simulation is carried out to verify the backstepping control design.