Adaptive Trajectory Tracking Control of Dynamic Positioning Vessels With Guaranteed Performance

The track tracking problem of the dynamic positioning vessel often involves the phenomenon of large control deviation and frequent fluctuations. In this paper, a control method of the presupposed performance function is proposed for the study of trajectory tracking control. First, a vessel kinematics and dynamics model with three degrees of freedom is established, and a backstepping adaptive controller based on the preset performance function is proposed based on the model. The control method can guarantee the transient and steady state performance of the trajectory tracking process to meet the prescribed performance criteria. Then, through Lyapunov stability criterion, it is proved that the system stability meets the preset performance and converges rapidly to the tiny neighborhood of the equilibrium point. Finally, the effectiveness of the proposed algorithm is further verified by simulation experiments.