Abstract
Suffering from complex sideslip angles, path following control of sailboat becomes significantly challenging. In this article, double finite-time observers-based line-of-sight guidance and finite-time control (DFLOS-FC) scheme is presented for path following of sailboat. Double finite-time sideslip observers (DFSO) are employed to observe the time-varying sideslip angle caused by external disturbances, which improves the accuracy of line-of-sight guidance. To avoid differential explosion problem caused by virtual control law, we designed a finite-time filter. The finite-time disturbance observer (FDO) is designed to accurately observe unknown external disturbances, which enables the controller to have excellent tracking accuracy and precise disturbance rejection. Considering the rotation limit of actuator rudder angle, we limit the rudder angle. The finite-time stability of the integrated guidance and control system is strictly guaranteed by Lyapunov method. Finally, the effectiveness of this method is verified by simulation and comparison with the traditional backstepping method.
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