Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents
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 i...
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/17298814211011035 |
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doaj-2ac60f2e500e48cc92dee68543b7a9082021-05-13T23:04:08ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142021-05-011810.1177/17298814211011035Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currentsMingcong LiChen GuoHaomiao YuThis 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.https://doi.org/10.1177/17298814211011035 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Mingcong Li Chen Guo Haomiao Yu |
spellingShingle |
Mingcong Li Chen Guo Haomiao Yu Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents International Journal of Advanced Robotic Systems |
author_facet |
Mingcong Li Chen Guo Haomiao Yu |
author_sort |
Mingcong Li |
title |
Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents |
title_short |
Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents |
title_full |
Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents |
title_fullStr |
Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents |
title_full_unstemmed |
Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents |
title_sort |
extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2021-05-01 |
description |
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. |
url |
https://doi.org/10.1177/17298814211011035 |
work_keys_str_mv |
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