Tracking control of underactuated surface vessel based on decoupled cascaded system design with input saturation and time delay

This paper considers tracking control of underactuated surface vessel based on decoupled cascaded system design with input saturation and time-delay, adding uncertainty and unsure control direction. Firstly, an integral delayed sliding-mode controller is put forward to resolve the position and velocity error from a cascade system. Secondly, an adaptive back-stepping control method is raised for the heading angle system to control the system error to be bounded. Then, analyse the system global stability. Eventually, the results are verified by numerical simulation.