Trajectory tracking control of underactuated surface vessel with full state constraints

Abstract This paper addresses the trajectory tracking control problem for an underactuated surface vessel (USV) with full state constraints. In order to solve the inconvenience caused by the USV underactuated structure to the system controller design, the system's model is transformed into two subsystems. Furthermore, the constrained problem can be solved by the Barrier Lyapunov method. In the USV's controller design process, a tan‐type Barrier Lyapunov function (BLF) is constructed to ensure the stability of the transformed system and avoid the constrained states reaching the boundary value. Compared with the conventional USV controller design, constructing a tan‐type BLF to limit the states is more valuable and more in line with reality. Simulation results demonstrate the USV with full state constraints can track the desired trajectory.