IDEAS home Printed from https://ideas.repec.org/a/aac/ijirss/v8y2025i7p100-111id10405.html
   My bibliography  Save this article

Optimal tracking control using discrete disturbance observer for unmanned surface vessel under unknown disturbances

Author

Listed:
  • Cao Xuan Canh

  • Nguyen Thi Anh

  • Doan Van Toi

  • Nguyen Danh Nam

Abstract

This article proposes an optimal control approach to address the trajectory tracking problem for unmanned surface vessels (USVs) subjected to external disturbances such as wind, waves, and currents. An optimal control method based on the Online Adaptive Dynamic Programming (OADP) algorithm is introduced to minimize energy consumption and enhance the USV's tracking performance. A disturbance observer is employed to estimate and compensate for external disturbances effectively. The OADP algorithm incorporates a neural network layer, which simplifies the structure and improves computational efficiency. Stability analysis is conducted using Lyapunov theory, considering weights and tracking errors. Simulation results demonstrate the effectiveness of the proposed control scheme, showing improvements over sliding mode control (SMC) and online actor-critic (AC) algorithms in trajectory tracking and cost optimization under various environmental conditions.

Suggested Citation

  • Cao Xuan Canh & Nguyen Thi Anh & Doan Van Toi & Nguyen Danh Nam, 2025. "Optimal tracking control using discrete disturbance observer for unmanned surface vessel under unknown disturbances," International Journal of Innovative Research and Scientific Studies, Innovative Research Publishing, vol. 8(7), pages 100-111.
    • Handle: RePEc:aac:ijirss:v:8:y:2025:i:7:p:100-111:id:10405
    as

    Download full text from publisher

    File URL: https://ijirss.com/index.php/ijirss/article/view/10405/2451
    Download Restriction: no
    ---><---

    More about this item

    Keywords

    ;
    ;
    ;
    ;

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:aac:ijirss:v:8:y:2025:i:7:p:100-111:id:10405. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Natalie Jean (email available below). General contact details of provider: https://ijirss.com/index.php/ijirss/ .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.