Backstepping Dynamical Sliding Mode Control Method for the Path Following of the Underactuated Surface Vessel

A method of backstepping adaptive dynamical sliding mode control is presented for the path following control system of the underactuated surface vessel. The system consists of the nonlinear ship response model and the Serret-Frenet error dynamics equations. The control system takes account of the modeling errors and external disturbances. It transforms the original underactuated system into a nonlinear system via simplified analysis. An adaptive dynamical sliding mode controller is proposed based on backstepping method and dynamical sliding mode control theory. By means of Lyapunov function, it is proven that the proposed controller can render the path following control system globally asymptotically stable. Simulation results verify that the controller is robust and adaptive to the systemic variations or disturbances