Original scientific paper
https://doi.org/10.1080/00051144.2023.2298099
Finite-time kinematic path-following control of underactuated ASV with disturbance observer
Lina Jin
; College of Navigation, Dalian Maritime University, Dalian, People’s Republic of China
Shuanghe Yu
; College of Marine Electrical Engineering, Dalian Maritime University, Dalian, People’s Republic of China
*
Guoyou Shi
; College of Navigation, Dalian Maritime University, Dalian, People’s Republic of China
Xiaohong Wang
; School of Artificial Intelligence and Software, Liaoning Petrochemical University, Fushun, People’s Republic of China
* Corresponding author.
Abstract
Based on a line-of-sight (LOS) guidance law for a curve parametrized path, a finite-time backstepping control is proposed for the kinematic path-following of an underactuated autonomous
surface vehicle (ASV). Finite-time observer is utilized to estimate the unknown external disturbances accurately. The first-order Levant differentiator is introduced into the finite-time filter
technique, such that the output of filter can not only approximate the derivative of the virtual
control, but also avoid the singularity problem of real heading control. The integral terminal sliding mode is employed to improve the tracking performance and converging rate in the surging
velocity control. By virtue of Lyapunov function, all the signals in the closed-loop system can
be guaranteed uniformly ultimate boundedness, and accurate path-following task can be fulfilled in finite time. The simulation results and comparative analysis validate the effectiveness
and robustness of the proposed control approach.
Keywords
Disturbance observer; finite-time control; kinematic path-following; curve parametrized path; underactuated ASV
Hrčak ID:
322974
URI
Publication date:
8.1.2024.
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