Asymptotic Trajectory Tracking of Underactuated Non-minimum Phase Marine Vessels

This paper presents a trajectory tracking scheme for class of underactuated non-minimum phase marine vessels. Through proper coordinates transformations, the vessels model can be transformed into two-input-two-output strict-feedback form which general backstepping method applicable to solve control problem. To avoid possible singularity problem in recursive design, an AMO (asymptotic modification orientation) concept is applied. In this case, are forced track modified instead directly predefined reference trajectory. Since vessels’ with invertible gain matrix, easily handled by proposed method. Proposed guarantee asymptotic stability closed-loop system terms polar coordinates. Simulation studies also carried out demonstrate effectiveness presented scheme.