Abstract This study presents the problem of tracking control for underactuated autonomous marine vehicle in condition to uncertainty dynamic and unavailable velocity. A robust controller for tracking control is designed by employing backstepping method, multi-layer neural network, and adaptive control technique. Moreover, the all error variables are guaranteed time-varying bounded based on Lyapunov synthesis. The biological dynamic model are employed to acquire the derivatives of virtual variables such that reduce explosion of complexity of traditional backstepping method. The designed control system does not acknowledge any priori parameters, which include hydrodynamic damping and model parameters. The nonlinear observer is designed to overcome the difficulty of unavailable velocity. Finally, the results of calculation and simulation indicate that proposed controller has better tracking performance for underactuated autonomous marine vehicle.

中文翻译：

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基于观测器的不确定动态欠驱动自主船舶自适应跟踪控制

摘要 本研究提出了在不确定动态和不可用速度条件下欠驱动自主船舶的跟踪控制问题。采用反步法、多层神经网络和自适应控制技术设计了一种鲁棒的跟踪控制控制器。此外，所有的误差变量都是基于李雅普诺夫综合保证时变有界的。采用生物动力学模型获取虚拟变量的导数，减少了传统反步法复杂度的爆炸式增长。设计的控制系统不承认任何先验参数，包括流体动力阻尼和模型参数。非线性观测器旨在克服不可用速度的困难。最后，