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Trajectory tracking of Unmanned Surface Vehicles based on adaptive control and multi-objective genetic algorithm considering model parameter uncertainty
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Zi-ming WANG1, 2, Shun-huai CHEN1, 2, Sheng FANG3
Journal of Ship Mechanics | 2026, 30(1) : 50 - 60
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Journal of Ship Mechanics | 2026, 30(1): 50-60
• Hydrodynamics •
Trajectory tracking of Unmanned Surface Vehicles based on adaptive control and multi-objective genetic algorithm considering model parameter uncertainty
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Zi-ming WANG1, 2, Shun-huai CHEN1, 2, Sheng FANG3
Affiliations
  • 1.School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China
  • 2.Key Laboratory of High-Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan 430063, China
  • 3.China Classification Society Zhoushan Office, Zhoushan 316000, China
Published: 2026-01-15 doi: 10.3969/j.issn.1007-7294.2026.01.006
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To solve the trajectory tracking problem of Unmanned Surface Vehicle (USV) when the parameters of model are uncertain, this paper designs a trajectory tracking strategy for USV based on adaptive control and non-dominated fast sorting multi-objective genetic algorithm (NSGA II). Firstly, a three degree of freedom USV kinematic and dynamic model is established. Secondly, based on Lyapunov theory, an online parameter estimation strategy and an adaptive trajectory tracking controller are designed for model parameters with uncertainty, and the convergence of trajectory tracking error is proved based on Lyapunov theory. Subsequently, to obtain the optimal values of a large number of controller parameters that require manual setting in the controller, a multi-objective controller parameter optimization model is established with the objectives of minimizing tracking error and minimizing control input. By solving the controller parameter optimization model through NSGA II, the optimal controller parameters are obtained, thereby enhancing the controller performance. Finally, numerical simulation experiments are conducted, and the experimental results verify the effectiveness of the trajectory tracking control algorithm.

USV  /  trajectory tracking  /  model parameter uncertainty  /  adaptive control  /  NSGA Ⅱ
Zi-ming WANG, Shun-huai CHEN, Sheng FANG. Trajectory tracking of Unmanned Surface Vehicles based on adaptive control and multi-objective genetic algorithm considering model parameter uncertainty[J]. Journal of Ship Mechanics, 2026 , 30 (1) : 50 -60 . DOI: 10.3969/j.issn.1007-7294.2026.01.006
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Article Info
doi: 10.3969/j.issn.1007-7294.2026.01.006
  • Receive Date：2025-07-04
  • Online Date：2026-07-07
  • Published：2026-01-15
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  • Received：2025-07-04
Affiliations
    1.School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China
    2.Key Laboratory of High-Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan 430063, China
    3.China Classification Society Zhoushan Office, Zhoushan 316000, China
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光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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