Simultaneous Stabilization and Path-following Control of Underactuated USV Using State Reconstruction

Abstract

This paper has proposed an integrated controller for both path-following and fixed point stabilization simultaneously for underactuated USV based on the method of state reconstruction. Firstly, a reduced-order state observer is designed to estimate the velocities of USV. Then, an output feedback control algorithm is developed on the basis of the backstepping technique and Lyapunov stability theory. Finally, Simulation results validate the feasibility of the proposed controller.