Abstract
In this paper, aiming at the path tracking problem of under-actuated unmanned surface vehicles (USVs) with unknown sideslip angle, a line-of-sight (LOS) guidance method based on data-driven extended state observer(ESO) is proposed, which realizes the accurate estimation and compensation of the time-varying sideslip angle. Then, simulation results verify the effectiveness of the proposed method. Compared with the traditional LOS guidance, the proposed guidance method can effectively compensate the time-varying sideslip angle and improve the accuracy of the path following of the under-actuated USVs.
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