Abstract
This paper proposes a new approach to solving the path-following problem for underdriven unmanned surface vehicles (USVs) with unknown sideslip angles. The method employs a sideslip observer to estimate and compensate for time-varying sideslip angles caused by external perturbations or curved paths, and further incorporates the line-of-sight (LOS) guidance law to deliver a path-following guidance scheme. The methodology rests on the theory of cascade stability and ensures the global asymptotic stability of the closed-loop system. Experimental results have verified the validity of the approach.
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Acknowledgement
This work was supported by the National Natural Science Foundation of China of P. R. China (under Grants 51009017, 51379002 and 61803063), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Fund for Liaoning Innovative Talents in Colleges and Universities (under Grant LR2017024), the Fundamental Research Funds for the Central Universities (under Grants 3132019344, 3132019108 and 3132018126), and the Stable Supporting Fund of Science and Technology on Underwater Vehicle Laboratory (SXJQR2018WDKT03).
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Dai, Z., Zhang, Q., Cheng, J., Weng, Y. (2023). LOS Guidance Law for Unmanned Surface Vehicle Path Following with Unknown Time-Varying Sideslip Compensation. In: Zhang, H., et al. International Conference on Neural Computing for Advanced Applications. NCAA 2023. Communications in Computer and Information Science, vol 1869. Springer, Singapore. https://doi.org/10.1007/978-981-99-5844-3_14
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DOI: https://doi.org/10.1007/978-981-99-5844-3_14
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