Open AccessControl of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle
Author(s) -
Ligang Liu,
Z. Y. Pei,
Jiucai Jin,
Yongshou Dai
Publication year - 2021
Publication title -
polish maritime research
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.374
H-Index - 21
eISSN - 2083-7429
pISSN - 1233-2585
DOI - 10.2478/pomr-2021-0017
Subject(s) - control theory (sociology) , heading (navigation) , line of sight , computer science , observer (physics) , curvature , robustness (evolution) , trajectory , state observer , engineering , control (management) , mathematics , aerospace engineering , artificial intelligence , physics , nonlinear system , biochemistry , chemistry , geometry , quantum mechanics , astronomy , gene
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.