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Title: Surge-varying LOS based path following of under actuated surface vehicles
Authors: Sun, Zhuo
Wang, Ning
Yin, Jianchuan
Zou, Zaojian
Keywords: Under actuated surface vehicle;Path following;Exact disturbance observer;Surge-varying LOS guidance
Issue Date: Jul-2019
Publisher: NISCAIR-CSIR, India
Abstract: Subject to harsh ocean environment, a novel path following control scheme with accurate guidance and high anti-disturbance ability for under actuated surface vehicles is proposed. The innovative work is as follow: (1) Based on the traditional line-of-sight (LOS), a surge-varying LOS (SVLOS) guidance law is designed to achieve double guidance of speed and heading, which enhances the flexibility and precision of the previous LOS; (2) Unknown disturbances are exactly estimated by an exact disturbance observer (EDO), wherein the limitations of bounded and asymptotic observations can be avoided; (3) The EDO-based robust tracking controllers enable accurate disturbance compensation and guided signal tracking in harsh ocean environment. Rigorous theoretical analysis and significant simulation comparison have been done to demonstrate superiority of the EDO-SVLOS scheme.
Page(s): 1048-1055
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.48(07) [July 2019]

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