scholarly journals Filtered Extended State Observer Based Line-of-Sight Guidance for Path Following of Unmanned Surface Vehicles With Unknown Dynamics and Disturbances

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 178401-178412 ◽  
Author(s):  
Mingcong Li ◽  
Chen Guo ◽  
Haomiao Yu
Keyword(s):  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Line Of Sight ◽  
Extended State ◽  
Unmanned Surface Vehicles

scholarly journals Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110110
Author(s):  
Mingcong Li ◽  
Chen Guo ◽  
Haomiao Yu
Keyword(s):  
Sliding Mode ◽  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Ocean Currents ◽  
Line Of Sight ◽  
Extended State ◽  
Integral Sliding Mode ◽  
Unmanned Surface Vehicles ◽  
Guidance Law

This article focuses on the problem of path following for underactuated unmanned surface vehicles (USVs) considering model uncertainties and time-varying ocean currents. An extended state observer (ESO)-based integral line-of-sight (ILOS) with an integral sliding mode adaptive fuzzy control scheme is proposed as the main control framework. First, a novel ESO is employed to estimate the surge and sway velocities based on the kinetic model, which are difficult to measure directly. Then, the adaptive ILOS guidance law is proposed, in which the integral vector is incorporated into the adaptive method to estimate the current velocities. Meanwhile, an improved fuzzy algorithm is introduced to optimize the look-ahead distance. Second, the controller is extended to deal with the USV yaw and surge velocity signal tracking using the integral sliding mode technique. The uncertainties of the USV are approximated via the adaptive fuzzy method, and an auxiliary dynamic system is presented to solve the problem of actuator saturation. Then, it is proved that all of the error signals in the closed-loop control system are uniformly ultimately bounded. Finally, a comparative simulation substantiates the availability and superiority of the proposed method for ESO-based ILOS path following of USV.

scholarly journals Control of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle

2021 ◽  
Vol 28 (2) ◽  
pp. 18-26
Author(s):  
Ligang Li ◽  
Zhiyuan Pei ◽  
Jiucai Jin ◽  
Yongshou Dai
Keyword(s):  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Line Of Sight ◽  
Extended State ◽  
Sideslip Angle ◽  
Unmanned Surface Vehicle ◽  
Curve Path ◽  
Guidance Law ◽  
Path Following Control

Abstract In order to improve the accuracy and robustness of path following control for an Unmanned Surface Vehicle (USV) suffering from unknown and complex disturbances, a variable speed curve path following a control method based on an extended state observer was proposed. Firstly, the effect of the environmental disturbances on the USV is equivalent to an unknown and time-varying sideslip angle, and the sideslip angle is estimated by using the extended state observer (ESO) and compensated in the Line of Sight (LOS) guidance law. Secondly, based on the traditional LOS guidance law, the design of the surge velocity guidance law is added to enable the USV to self-adjust the surge velocity according to the curvature of the curve path, thus further improving the tracking accuracy. Finally, the heading and speed controller of the USV is designed by using a sliding mode control to track the desired heading and speed accurately, and then the path following control of the USV’s curve path is realised. Simulation results verify the effectiveness of the proposed method.

Extended state Kalman filter-based path following control of underactuated autonomous vessels

2021 ◽  
pp. 014233122199441
Author(s):  
Yi Zhang ◽  
Wenchao Xue ◽  
Li Sun ◽  
Jiong Shen
Keyword(s):  
Kalman Filter ◽  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Model Predictive Controller ◽  
Point Tracking ◽  
Path Following Control ◽  
Comparison Results ◽  
Predictive Controller

Path following control of underactuated autonomous vessels remains a challenging issue in recent years due to its inherent underactuation and nonlinearities as well as the widely existing disturbances in the marine environment. In order to accommodate all the difficulties simultaneously, a novel extended state Kalman filter, which adopts the idea of extended state observer in estimating and compensating system lumped disturbance and optimizes the filter gain in a real-time fashion using Kalman filter technique, is constructed to estimate system states and disturbances in the presence of model uncertainties and measurement noise. Based on the estimated states and disturbances, an enhanced model predictive controller is proposed to steer the underactuated autonomous vessels along a predefined path at a desired speed after considering system state and input constraints. Simulation results have proved the superiority of extended state Kalman filter over traditional extended state observer and extended Kalman filter under various disturbance and noise scenarios. Moreover, the comparison results with conventional proportion-integration-differentiation controller have demonstrated the feasibility and efficacy of the proposed extended state Kalman filter-based model predictive controller in both set-point tracking and disturbance rejection.

Impact angle control based on integral sliding mode manifold and extended state observer

2018 ◽  
Vol 233 (6) ◽  
pp. 2131-2140
Author(s):  
Xiaojian Zhang ◽  
Mingyong Liu ◽  
Yang Li ◽  
Feihu Zhang
Keyword(s):  
Sliding Mode ◽  
Impact Angle ◽  
State Observer ◽  
Extended State Observer ◽  
Line Of Sight ◽  
Extended State ◽  
Integral Sliding Mode ◽  
Guidance Law ◽  
Switched Nonlinear System ◽  
The Impact

This paper discusses the issue of impact angle control over guidance in scenarios of an interceptor against the maneuvering targets. Inspired by switched nonlinear system, an integral sliding mode manifold is first developed. Then, the impact angle control over guidance is derived by using the integral sliding mode manifold with finite time control. To obtain precise guidance effect, the second-order of extended state observer is proposed in the case of unknown target acceleration. Finally, composited impact angle control over guidance based on extended state observer is developed. The stability analysis of the proposed guidance law is demonstrated by using Lyapunov function, and theoretical proof that the line-of-sight angle and line-of-sight angular rate can converge to the desired value in finite steps, respectively. Numerical simulation results are illustrated to validate the performance of the proposed guidance law.

scholarly journals High-Gain Extended State Observer Based Adaptive Sliding Mode Path Following Control for An Underactuated Vessel Sailing in Restricted Waters

2019 ◽  
Vol 9 (6) ◽  
pp. 1102 ◽  
Author(s):  
Jianqin Wang ◽  
Zaojian Zou ◽  
Tao Wang
Keyword(s):  
Sliding Mode ◽  
Path Following ◽  
High Gain ◽  
State Observer ◽  
Extended State Observer ◽  
Model Parameters ◽  
Extended State ◽  
External Disturbances ◽  
Adaptive Sliding Mode ◽  
Path Following Control

This paper studied the path following problem for an underactuated vessel sailing in restricted waters with varying water depths. A novel high-gain extended state observer based adaptive sliding mode path following control scheme was proposed. The high-gain extended state observer based line-of-sight guidance law was designed according to vessel kinematics in the horizontal plane, which achieved accurate guidance in spite of time-varying sideslip angles. In the guidance system, a guidance angle was calculated to serve as a reference input for the yaw tracking control system. The sliding mode yaw tracking control system was designed, which can deal with model uncertainties and external disturbances. Since it is hard to obtain the exact model parameters in advance, an adaptive technique was adopted to estimate the unknown parameters, and an adaptive sliding mode control was designed to make the yaw tracking errors globally and asymptotically converge to zero in spite of unknown model parameters, model uncertainties, and external disturbances. Furthermore, the global uniformly asymptotically stability of the closed-loop system was proven based on the cascade system theory. Lastly, simulation experiments were conducted to validate the analysis results and to demonstrate the superiority of the proposed scheme.

Extended state observer-based finite-time guidance laws on account of thruster dynamics

2019 ◽  
Vol 233 (12) ◽  
pp. 4583-4597 ◽  
Author(s):  
Meijun Duan ◽  
Di Zhou ◽  
Dalin Cheng
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Angular Rate ◽  
State Observer ◽  
Extended State Observer ◽  
Line Of Sight ◽  
Switching Frequency ◽  
Extended State ◽  
Guidance Law ◽  
Guidance Laws

Guidance laws are designed for a near space interceptor with line-of-sight angle as input and on–off type thrust as output. The dynamics of thruster is viewed as a first-order lag with on–off working style and is integrated with the target–interceptor engagement dynamics to design bang-bang type sliding mode guidance laws. An extended state observer is designed to estimate the line-of-sight angular rate and the acceleration of target with the line-of-sight angle as a measurement. It is rigorously proved that the states of guidance system converge to a neighborhood of sliding mode in finite time and the line-of-sight angular rate converges to a neighborhood of the origin along the sliding mode in finite time under the designed guidance laws. Furthermore, in order to reduce the switching frequency of thruster, a sliding mode guidance law with hysteresis-band according to the sufficient condition for finite time convergence is proposed. Then, it is integrated with the bang-bang type sliding mode guidance law to yield a composite guidance law. Simulation results show that the extended state observer can effectively estimate the line-of-sight angular rate and the target acceleration, and the proposed sliding mode guidance laws have better performance than typical proportional guidance law.

Sign in / Sign up

Export Citation Format

Share Document