Path following based on line-of-sight with nonlinear adaptive compensation of side-slip angle

Abstract

In this paper, a line-of-sight(LOS) guidance law with nonlinear adaptive side-slip angle compensation for 2D path following under external constant disturbance is proposed. When the vehicle follows path on the ocean, the vehicle is exposed to the constant ocean current, and which drags the vehicle away from the desired path. So a nonlinear adaptive compensation line-of-sight guidance law is proposed for the vehicle to follow the desired path of 2D. A side-slip angle should be estimated to compensate the effect of the ocean current. First, the cross-track error is calculated by geography method; Second, the accurate side-slip angle compensation based LOS controller is designed and the global asymptotic stability (GAS)of which is proved; Third, a nonlinear adaptive estimation of the side-slip angle is proposed; and the GAS of the LOS combined with the estimated side-slip angle is proved. Finally, an example is simulated which shows the LOS with nonlinear adaptive compensation can take shorter adjust time than integral-LOS, and the proposed method guarantees the vehicle to accurately track the desired path.