Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV)

Table 1

Notations for marine vehicle.

DOF	Motion	Force moment	Velocity	Movement angle
I	In the x-direction-surge	X		X
II	In the y-direction sway	Y		Y
III	In the z-direction heave	Z		Z
IV	About the x-axis roll	K		Φ
V	About the y-axis pitch	M		Θ
VI	About the z-axis yaw	N		Ψ