文章基本信息

标题：Velocity Estimation and Robust Non-linear Path Following Control of Autonomous Surface Vehicles ⁎
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作者：Guillermo Bejarano ; Sufiyan N-Yo
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：14674-14679
DOI：10.1016/j.ifacol.2020.12.1479
语种：English
出版社：Elsevier
摘要：AbstractThis work addresses the problem of non-linear path following control for under-actuated autonomous surface vehicles in the horizontal plane. The presence of multiple unknowns is considered, including unmodelled hydrodynamics, internal parametric model uncertainties, and unmeasurable disturbances due to wind, waves, and ocean currents, whereas the surge, sway, and yaw velocities are also considered to be unmeasured. Firstly, a non-linear extended state observer is applied to recover the unmeasured velocities and estimate the lumped generalised disturbances, that include all unknown terms previously detailed. Secondly, regarding the path following control, a surge-guided line-of-sight guidance law is applied to simultaneously compute the surge and heading/yaw references, while a simplified robust-adaptive backstepping control strategy is proposed. The effectiveness and robustness of the proposed estimation and control strategy is verified in simulation considering challenging disturbance and current profiles.
关键词：KeywordsSystem state estimationGuidance systemsPath followingRobust controlDisturbance rejectionAutonomous vehiclesMarine systems