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For the incomplete symmetrical underactuated USV (unmanned surface vehicle), this paper proposed a global asymptotic stabilization control method. The global diffeomorphism transformation for the USV model was performed twice in order to obtain the form of nonlinear cascade systems, so the stabilization problem of the original USV system was simplified to the stabilization of the cascade systems. Then the cascade system stabilization controller was designed based on Backstepping, realize the global asymptotic stabilization control of the incomplete symmetrical underactuated USV. Effectiveness and reliability of the research methods and the controller designed was vertified by simulation results. Keywords—USV; global asymptotic stabilization; underactuated control; cascade systems; backstepping

A Feasible Control Method for Incomplete Symmetrical Marine Robot