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Backstepping adaptive sliding mode control for the USV course tracking system

In order to realize the course tracking nonlinear control of an USV with single waterjet, firstly, the motion stability analysis of the USV's course is carried out, then, considering the modeling errors and external disturbances, an adaptive sliding mode control law was proposed, which is based on the sliding mode control theory and backstepping method. Finally, based on the Lyapunov stability theory, it is proved that the control law can ensure the global asymptotic stability of the heading tracking system. The comparisons of simulation results verify the effectiveness of the proposed controller.