<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In order to improve the accuracy and robustness of path following control for an Unmanned Surface Vehicle (USV) suffering from unknown and complex disturbances, a variable speed curve path following a control method based on an extended state observer was proposed. Firstly, the effect of the environmental disturbances on the USV is equivalent to an unknown and time-varying sideslip angle, and the sideslip angle is estimated by using the extended state observer (ESO) and compensated in the Line of Sight (LOS) guidance law. Secondly, based on the traditional LOS guidance law, the design of the surge velocity guidance law is added to enable the USV to self-adjust the surge velocity according to the curvature of the curve path, thus further improving the tracking accuracy. Finally, the heading and speed controller of the USV is designed by using a sliding mode control to track the desired heading and speed accurately, and then the path following control of the USV’s curve path is realised. Simulation results verify the effectiveness of the proposed method.</p>
</abstract>

In order to improve the accuracy and robustness of path following control for an Unmanned Surface Vehicle (USV) suffering from unknown and complex disturbances, a variable speed curve path following a control method based on an extended state observer was proposed. Firstly, the effect of the environmental disturbances on the USV is equivalent to an unknown and time-varying sideslip angle, and the sideslip angle is estimated by using the extended state observer (ESO) and compensated in the Line of Sight (LOS) guidance law. Secondly, based on the traditional LOS guidance law, the design of the surge velocity guidance law is added to enable the USV to self-adjust the surge velocity according to the curvature of the curve path, thus further improving the tracking accuracy. Finally, the heading and speed controller of the USV is designed by using a sliding mode control to track the desired heading and speed accurately, and then the path following control of the USV’s curve path is realised. Simulation results verify the effectiveness of the proposed method.

Control of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

In order to improve the accuracy and robustness of path following control for an Unmanned Surface Vehicle (USV) suffering from unknown and complex...

Control of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle

Published Online: Jul 15, 2021

Page range: 18 - 26

DOI: https://doi.org/10.2478/pomr-2021-0017

Keywords
USV, curve path following control, surge velocity guidance law, extended state observer, sliding mode control

© 2021 Ligang Li et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Control of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle

Published Online: Jul 15, 2021

Page range: 18 - 26

DOI: https://doi.org/10.2478/pomr-2021-0017

KeywordsUSV, curve path following control, surge velocity guidance law, extended state observer, sliding mode control

© 2021 Ligang Li et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
USV, curve path following control, surge velocity guidance law, extended state observer, sliding mode control