Abstract
This work addresses the problem of non-linear path following control for under-actuated autonomous surface vehicles in the horizontal plane. The presence of multiple unknowns is considered, including unmodelled hydrodynamics, internal parametric model uncertainties, and unmeasurable disturbances due to wind, waves, and ocean currents, whereas the surge, sway, and yaw velocities are also considered to be unmeasured. Firstly, a non-linear extended state observer is applied to recover the unmeasured velocities and estimate the lumped generalised disturbances, that include all unknown terms previously detailed. Secondly, regarding the path following control, a surge-guided line-of-sight guidance law is applied to simultaneously compute the surge and heading/yaw references, while a simplified robust-adaptive backstepping control strategy is proposed. The effectiveness and robustness of the proposed estimation and control strategy is verified in simulation considering challenging disturbance and current profiles.
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.