Abstract
AbstractThis paper investigates the path‐tracking control problem for an autonomous surface vessel (ASV) with unknown time‐varying disturbances and input saturation. A robust nonlinear control law is proposed based on a disturbance observer and an auxiliary system in the context of command filtered control. The disturbance observer is constructed to estimate the unknown time‐varying disturbances, the auxiliary dynamic system is employed to handle input saturation, and the compensator based command filtered control technique makes the designed path‐tracking control law simple and easy to implement in practice. It is proved that the nonlinear control law can track the desired vessel's position and heading, while guaranteeing the uniform ultimate boundedness of all signals in the path‐tracking control system. Simulation results further demonstrate the effectiveness of the method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.