文章基本信息

标题：Fast Finite-Time Path-Following Control of Unmanned Surface Vehicles with Sideslip Compensation and Time-Varying Disturbances
本地全文：下载
作者：He, Zhiping ; Wang, Guofeng ; Fan, Yunsheng 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：7
页码：1-20
DOI：10.3390/jmse10070960
语种：English
出版社：MDPI AG
摘要：This paper studies the fast finite-time path following of underactuated unmanned surface vehicles (USV) with sideslip compensation, time-varying disturbances and input saturation. In the guidance module, the fast finite-time predictor-based line-of-sight (FFTPLOS) is proposed to overcome the large guidance angle and high-frequency oscillation and eliminate the sideslip angle with finite time. Then, the robust finite-time feedback control is applied to keep the vehicle following the desired path in the control module, where the reduced-order extended state observers (ROESO) are applied to deal with time-varying disturbances. Additionally, fast finite-time auxiliary dynamic systems with smoothly switching functions (FFTADS-SSF) achieve the saturation constraints on actuators with low consumption. The stability analysis proves that the guidance-control system of USVs is uniformly ultimately bounded stable within finite time. The effectiveness and performance of this proposed scheme are superior to the comparison schemes.
关键词：fast finite-time path following; unmanned surface vehicle; sideslip compensation; reduced-order extended state observers; time-varying disturbances