Cascade Backstepping Simulation for Trajectory Tracking Control of Unmanned Surface Vessels

This repository contains original source code for a cascade backstepping control simulation program designed for trajectory tracking of unmanned surface vessels (USVs). The implementation enables precise control of USV navigation paths, ensuring vessels follow predetermined trajectories with enhanced stability and accuracy. The cascade backstepping approach employs a hierarchical control structure where inner-loop controllers manage vessel dynamics while outer-loop controllers handle trajectory tracking, creating a robust control system. Key algorithm components include Lyapunov-based stability design, recursive control law derivation, and error dynamics minimization. The code structure features modular implementation of vessel kinematics/dynamics models, reference trajectory generators, and cascaded controller modules with parameter tuning capabilities. This simulation framework provides researchers and developers with practical tools to study and enhance USV trajectory tracking algorithms, offering insights into control system performance through comprehensive simulation scenarios and visualization outputs.