Finite-time output feedback path following control of underactuated MSV based on FTESO

2021 ◽  
Vol 224 ◽  
pp. 108660
Author(s):  
Jun Nie ◽  
Haixia Wang ◽  
Xiao Lu ◽  
Xiaogong Lin ◽  
Chunyang Sheng ◽  
...  
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Path Following ◽  
Feedback Path ◽  
Path Following Control

scholarly journals Robust Output Path-Following Control of Marine Surface Vessels with Finite-Time LOS Guidance

2020 ◽  
Vol 8 (4) ◽  
pp. 275
Author(s):  
Lu Wang ◽  
Changkui Xu ◽  
Jianhua Cheng
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Hierarchical Control ◽  
Path Following ◽  
Sideslip Angle ◽  
Disturbance Estimation ◽  
Surface Vessels ◽  
Path Following Control ◽  
Heading Control ◽  
Marine Surface

This paper proposes a finite-time output feedback methodology for the path-following task of marine surface vessels. First, a horizontal path-following model is established with unknown sideslip angle, unmeasured system state and system uncertainties. A hierarchical control structure is adopted to deal with the cascade property. For kinematics system design, a finite-time sideslip angle observer is first proposed, and thus the sideslip angle estimation is compensated in a nonlinear line-of-sight (LOS) guidance strategy to acquire finite-time convergence. For the heading control design, an extended state observer is introduced for the unmeasured state and equivalent disturbance estimation, based on which an output feedback backstepping approach is proposed for the desired tracking of command course angle. The global stability of the cascade system is analyzed. Simulation results validate the effectiveness of the proposed methodology.

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