Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties

In this paper, we propose a hybrid adaptive feedback control law for global asymptotic tracking control for marine surface vehicles in the presence of parametric uncertainties. The hybrid feedback is derived from a family of potential functions and employs a hysteretic switching mechanism that is independent of the vehicle velocities. The tracking references are constructed from a given parametrized loop and a speed assignment specifying the motion along the loop. Finally, we provide simulation results for a ship subject to parametric modeling uncertainties and unknown ocean currents.