Large drift angle USV path following strategy based on real sea state disturbance

This study tackles path-following challenges for USVs under unknown time-varying disturbances across sea conditions. Key solutions include: 1) A multi-environment wind-wave disturbance model integrated with LOS guidance via drift angle observation to counteract environmental effects; 2) A backstepping-based adaptive thruster control scheme combined with disturbance observers for real-time estimation. Stability analysis validates the control strategy’s effectiveness in path tracking. The effectiveness of the control strategy was verified through simulation experiments using simuNPS simulation software.