Trajectory Tracking - Vessel Path following Control

In the context of vessel path control, trajectory tracking represents a quintessential underactuated control challenge. This study implements and compares two distinct algorithms to address this problem, leveraging the MATLAB-Simulink environment for comprehensive simulation. The workflow encompasses: vessel dynamic modeling using Simulink blocks to capture nonlinear hydrodynamics; controller design implementing sliding mode or backstepping control strategies; and performance evaluation through simulation scenarios. The Simulink implementation provides intuitive visualization of the tracking performance, control efforts, and system robustness. The algorithms are structured using MATLAB Function blocks or S-functions to encapsulate the core control logic, while Simulink scopes and data logging enable systematic analysis. Through detailed investigation and experimentation on trajectory tracking, this approach facilitates deeper understanding and optimization of vessel path following control systems.