Under real wave model unmanned surface vessel trajectory tracking with state and actuator constraints

This paper addresses the critical issue of dynamic performance constraints for unmanned surface vessels (USVs) operating under real maritime conditions. First, to accurately characterize the effect of ocean waves on unmanned vessels, a wave disturbance model is established based on actual ocean wave measurements, which provides more accurate representation of maritime environmental disturbances. Subsequently, an optimized barrier Lyapunov function is designed to constrain the position errors that occur during the USV’s trajectory tracking process. Furthermore, a state-constrained control strategy that incorporates propeller dynamics is developed, which can effectively mitigate oscillations in control inputs. Finally, numerical simulations using SimuNPS software demonstrate that the proposed control strategy exhibits significant advantages over existing methods.