Adaptive output feedback control for path following of underactuated ships with uncertain dynamics

An adaptive output feedback control strategy that aims for path following of underactuated ships under uncertain dynamics has been provided in this paper. In most cases on path following control system, the position measurements are available while the velocity measurements are not. The velocity signals of the path following system could be estimated by the designed observer. Designing the proposed controller depends on backstepping and Lyapunov´s direct method. The uniform ultimate boundedness of the following error is certified by the Lyapunov theory. The accuracy of the control law is justified by numerical simulations.