A L1 adaptive backstepping controller is proposed for path-following control of an underactuated ship based on a nonlinear steering model, and the control law is derived using Lypunov control function. L1 adaptive controller is a novel technology considering both the robustness and fast adaptation. The closed-loop control system is proved to be uniformly global asymptotically stable. A novel guidance law, time-varying vector field, is proposed for the guidance system. The kinematic analysis of path-following shows that the guidance and control systems are coupled, and the guidance system is affected by the performance of the controller. The Lyapunov method is employed to show that the equilibrium point of the whole system is uniformly global asymptotically stable. Path-following simulations are carried out to validate the performance of the proposed control law and vector field guidance law using a fully nonlinear manoeuvring mode of an underactuated tanker in the presence of stochastic ocean current.

提出了一种基于非线性转向模型的L1自适应反推控制器，用于欠驱动船的路径跟踪控制，并利用Lypunov控制函数推导了控制律。L1自适应控制器是一种兼顾鲁棒性和快速自适应性的新颖技术。证明了该闭环控制系统是一致全局渐近稳定的。提出了一种新颖的制导律，即时变矢量场。路径跟随的运动学分析表明，引导系统和控制系统是耦合的，并且引导系统受控制器性能的影响。用李雅普诺夫方法证明整个系统的平衡点是一致全局渐近稳定的。在存在随机洋流的情况下，使用欠驱动油轮的完全非线性机动模式进行路径跟踪仿真，以验证所提出的控制律和矢量场制导律的性能。