Data-Driven Adaptive Tracking Control of Unknown Autonomous Marine Vehicles

This paper is concerned with data-driven adaptive tracking control for unknown autonomous marine vehicles (AMVs) with uncertainties and disturbances. By deploying the data-driven technique and observer design, an equivalent data model of the AMV is firstly established. Based on the proposed data model, a novel data-driven adaptive tracking controller is designed, and the corresponding stability analysis for the closed-loop AMV system is presented theoretically. Finally, simulation studies are given to demonstrate the validity of the main results.