Abstract
External disturbances and input saturation are considered in this work, presenting a velocity-varying line-of-sight and finite-time disturbance observers based backstepping (VLFDOB) control scheme to realize unmanned surface vessels’ (USVs) path following control. We explore this scheme of combining velocity-varying line-of-sight (VLOS) guidance laws and finite-time disturbance observers with designing auxiliary dynamic systems in order to produce guidance heading angle and cope with disturbances acting on USVs as well as anti-windup simultaneously. The performance of stability of this scheme is shown with effective and accurate performance through Lyapunov stability theories. Simulating results demonstrate that the proposed scheme enables USVs’ system to reach desired path following objectives.
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Acknowledgement
This work was supported by the National Natural Science Foundation of China under Grant 51879027, 51579024, 6137114 and 51809028, and in party by the Fundamental Research Funds for the Central Universities under Grant 3132019109.
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Yu, Y., Guo, C., Yu, H. (2020). Autonomous Intelligent Control for Path Following of Unmanned Surface Vessels with Input Constraints. In: Deng, Z. (eds) Proceedings of 2019 Chinese Intelligent Automation Conference. CIAC 2019. Lecture Notes in Electrical Engineering, vol 586. Springer, Singapore. https://doi.org/10.1007/978-981-32-9050-1_24
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DOI: https://doi.org/10.1007/978-981-32-9050-1_24
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