文献类型：会议论文

英文题名：FESO-Based Line-of-Sight Guidance Law for Path Following of Unmanned Surface Vehicles with Environmental Disturbances

作者：Sun, Ning[1,2]; Ren, Gang[2]; Liu, Haitao[1,2]

机构：[1] School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang, 524088, China; [2] Southern Marine Science and Engineering Guangdong Laboratory [Zhanjiang], Zhanjiang, 524000, China

会议论文集：Proceeding - 2021 China Automation Congress, CAC 2021

会议日期：October 22, 2021 - October 24, 2021

会议地点：Beijing, China

语种：英文

外文关键词：Control theory - Environmental regulations - State estimation

外文摘要：This paper proposes a filter extended state observer (FESO) based integral line-of-sight (LOS) control law for unmanned surface vehicle path following control system. The filtered extended state observer is developed to observe the time-varying sideslip angle, which is caused by disturbances caused by the external environment. This ensures that the sideslip angle can be estimated in time and accurately so that the desired path can be accurately tracked without being disturbed by the external sea wind, waves, and current environment. In addition, the look-ahead distance is also different from the previous work, which is a time-varying distance determined by the cross-track error and the speed of the unmanned surface vehicle. The simulation results demonstrate that the proposed theory is effective. ? 2021 IEEE