Robust adaptive command-filtered backstepping synchronization navigation control with prescribed performance for supply ship during underway replenishment

In the presence of unknown environmental disturbances, this paper develops a robust adaptive synchronization navigation control design with prescribed performance for the supply ship during underway replenishment using the adaptive technique, the prescribed performance control (PPC) technique and the command-filtered backstepping approach. The adaptive law is derived to estimate the bounds of unknown environmental disturbances, the PPC technique is introduced to guarantee the prescribed transient and steady-state performance of synchronization control and the command filter is employed to avoid the direct analytic derivation of the virtual stabilizing function in the conventional backstepping design. The theoretical analysis proves that the designed control law can realize the synchronization navigation between the supply and the main ships with prescribed performance, while guaranteeing the uniform ultimate boundedness of all signals in the synchronization closed-loop control system of the supply ship. Simulation results on a supply ship demonstrate the effectiveness of the designed synchronization navigation control law and the robustness to unknown environmental disturbances.