Abstract:

 This paper addresses the trajectory planning and tacking control problem for underactuated autonomous
surface vehicles (ASV) with parametric modeling uncertainty and environmental disturbances. Given
a desired 2D smooth and inertial trajectory, the planning method uses vehicle dynamics to compute the bodyfixed
reference velocity and acceleration. A trajectory tacking control law is proposed based on the sliding-mode
control approach. Theoretical analysis shows that the ASV trajectory tacking system is asymptotically stable
and the yawing motion is BIBO stable under the control law. Simulation results are presented to show that
the ASV successfully follows a desired closed-loop or open-loop trajectory and achieves positioning control.
Feasibility and effectiveness of the presented controller is validated.

Key words:  underactuated, autonomous surface vehicle (ASV), trajectory tacking, sliding-mode control