Adaptive Region Reaching Control of Fully Actuated Ocean Surface Vessels

Abstract

In this paper, region reaching controller is designed for fully actuated ocean surface vessels to reach a desired target region instead of a point. There are not the requirements for both the pre-specified trajectory outside the desired region and the desired pinpoint position inside the desired region. The controller design is based on the potential energy function, backstepping recursive design methodology, and the Lyapnov stability analysis theory. If the target region is specified arbitrarily small, the target region reduces to a point, and hence the region reaching control can be a generalisation of the setpoint control. Simulation results are presented to illustrate the performance of the proposed controller.