On model parameter identification and trajectory tracking control for USV based on backstepping

In order to design the unmanned surface vehicle (USV) tracking controller for “LanXin”, through the USV maneuverability experiment such as zigzag test. By using the recursive least square method, the parameters of USV maneuvering mathematical model and stern machine response model can be identified. A kind of backstepping and piecewise linearization tracking controller for USV can be designed and implemented. Through the analysis about the experimental data of simulation and reality testing, the correctness and rationality of the model parameter identification are demonstrated. And the curve tracking control is verified. The method can provide reference for the design of tracking controller for USV.