文章基本信息

标题：Robust Output Path-Following Control of Marine Surface Vessels with Finite-Time LOS Guidance
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作者：Lu Wang ; Changkui Xu ; Jianhua Cheng 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2020
卷号：8
期号：4
页码：275
DOI：10.3390/jmse8040275
语种：English
出版社：MDPI AG
摘要：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.