Adaptive Tracking Control of Surface Vessel Using Optimized Backstepping Technique.

In this paper, a tracking control approach for surface vessel is developed based on the new control technique named optimized backstepping (OB), which considers optimization as a backstepping design principle. Since surface vessel systems are modeled by second-order dynamic in strict feedback form, backstepping is an ideal technique for finishing the tracking task. In the backstepping control of surface vessel, the virtual and actual controls are designed to be the optimized solutions of corresponding subsystems, therefore the overall control is optimized.

Optimized Backstepping for Tracking Control of Strict-Feedback Systems.

In this paper, a control technique named optimized backstepping is first proposed by implementing tracking control for a class of strict-feedback systems, which considers optimization as a design philosophy of the high-order system control. The basic idea is that designing the actual and virtual controls of backstepping is the optimized solutions of the corresponding subsystems so that overall control of the high-order system is optimized. In general, optimization control is designed based on the solution of Hamilton-Jacobi-Bellman equation, but solving the equation is very difficult due to the inherent nonlinearity and intractability.