@ARTICLE{Soussi_Sami_Adaptive_2025,
 author={Soussi, Sami and Boukattaya, Mohamed and Zaoui, Chiheb},
 volume={vol. 72},
 number={No 1},
 pages={57-83},
 journal={Archive of Mechanical Engineering},
 howpublished={online},
 year={2025},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={This paper introduces a dual-loop adaptive trajectory tracking control system for Marine Surface Vehicles (MSVs) that addresses both kinematic and dynamic disturbances. The approach begins with an outer-loop backstepping control strategy, which generates velocity commands at the kinematic level to ensure accurate tracking of the MSV's position and heading. An adaptive estimator is integrated to assess unknown ocean current velocities, allowing for effective compensation of their impact. The inner-loop control employs linear parameterization to produce torque commands at the dynamic level, ensuring alignment between the actual and commanded velocity states. Two adaptive tuning laws are proposed: one for estimating challenging hydrodynamic parameters and another for compensating external marine disturbances. The double-loop control significantly mitigates the effects of both kinematic and dynamic disturbances, enhancing the precision of MSV tracking and overall performance. Stability of the closed-loop system is established using Lyapunov theory, and the adaptation laws for the system's unknown parameters are derived. Numerical simulations demonstrate the efficacy of the proposed control strategy.},
 title={Adaptive dual-loop trajectory tracking control of marine surface vehicles in the presence of kinematic and dynamic disturbances},
 type={Article},
 URL={http://czasopisma.pan.pl/Content/133986/PDF-MASTER/AME_2025_153732.pdf},
 doi={10.24425/ame.2025.153732},
 keywords={Marine Surface Vehicle (MSV), double-loop control, adaptive control, ocean current estimation, marine disturbance},
}