Model Simplification for Asymmetric Marine Vehicles in Horizontal Motion—Verification of Selected Tracking Control Algorithms

Abstract

This paper addresses a trajectory tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North–East–Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method, for which the application condition was that the vehicle was symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.