Real-Time Navigation Date-Driven Heading Control Algorithm of USV Based on Backstepping Method with Unknown Model Parameters

The control problem for the USV model with uncertain parameters is addressed by employing the extended Kalman filter identification method. This approach facilitates the estimation of the corresponding model parameters, which are continuously corrected in real time through a recursive mode. Based on the modified model, a backstepping control strategy is designed to determine the optimal control rudder angle. With the inclusion of the correction component, the improved backstep heading controller exhibits better adaptability to model perturbations and interferences. Simulation results demonstrate that, in comparison to traditional PID control, the improved backstep heading controller achieves higher heading accuracy, shorter setting time, smaller overshoot amplitude, irrespective of environmental interferences.