Sideslip angle observation-based LOS and adaptive finite-time path following control for sailboat

Abstract

In this article, double finite-time observers-based line-of-sight guidance (DFLOS) and adaptive finite-time control (DFLOS-AFC) scheme is presented for path following of sailboat. The time-varying sideslip angle is accurately observed by double finite-time sideslip observers (DFSO), which improves the robustness and accuracy of line-of-sight guidance. For heading controller, the finite-time filter is used to solve the differential explosion problem of the virtual control law. The second order integral terminal sliding mode is devised to ensure the precision of heading control. Finite-time auxiliary system is introduced to compensate for actuator saturation constraints. Model uncertainties and external disturbance are compensated through three adaptive updated parameters, which reduces the calculation complexity of heading control system. Finally, simulation and comparisons results demonstrate the effectiveness of DFLOS-AFC scheme.